Refactor: Name manual_control_setpoint the same way everywhere

src/examples/fixedwing_control/main.cpp

@@ -284,8 +284,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 	memset(&rates_sp, 0, sizeof(rates_sp));
 	struct vehicle_global_position_s global_pos;
 	memset(&global_pos, 0, sizeof(global_pos));
-	struct manual_control_setpoint_s manual_sp;
-	memset(&manual_sp, 0, sizeof(manual_sp));
+	struct manual_control_setpoint_s manual_control_setpoint;
+	memset(&manual_control_setpoint, 0, sizeof(manual_control_setpoint));
 	struct vehicle_status_s vstatus;
 	memset(&vstatus, 0, sizeof(vstatus));
 	struct position_setpoint_s global_sp;
@@ -311,7 +311,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 	/* subscribe to topics. */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
 	int global_sp_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
 
@@ -367,8 +367,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 				orb_check(global_pos_sub, &pos_updated);
 				bool global_sp_updated;
 				orb_check(global_sp_sub, &global_sp_updated);
-				bool manual_sp_updated;
-				orb_check(manual_sp_sub, &manual_sp_updated);
+				bool manual_control_setpoint_updated;
+				orb_check(manual_control_setpoint_sub, &manual_control_setpoint_updated);
 
 				/* get a local copy of attitude */
 				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
@@ -379,16 +379,16 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 					memcpy(&global_sp, &triplet.current, sizeof(global_sp));
 				}
 
-				if (manual_sp_updated)
+				if (manual_control_setpoint_updated)
 					/* get the RC (or otherwise user based) input */
 				{
-					orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
+					orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual_control_setpoint);
 				}
 
 				/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
-				if (PX4_ISFINITE(manual_sp.z) &&
-				    (manual_sp.z >= 0.6f) &&
-				    (manual_sp.z <= 1.0f)) {
+				if (PX4_ISFINITE(manual_control_setpoint.z) &&
+				    (manual_control_setpoint.z >= 0.6f) &&
+				    (manual_control_setpoint.z <= 1.0f)) {
 				}
 
 				/* get the system status and the flight mode we're in */

src/examples/rover_steering_control/main.cpp

@@ -235,8 +235,8 @@ int rover_steering_control_thread_main(int argc, char *argv[])
 	memset(&att_sp, 0, sizeof(att_sp));
 	struct vehicle_global_position_s global_pos;
 	memset(&global_pos, 0, sizeof(global_pos));
-	struct manual_control_setpoint_s manual_sp;
-	memset(&manual_sp, 0, sizeof(manual_sp));
+	struct manual_control_setpoint_s manual_control_setpoint;
+	memset(&manual_control_setpoint, 0, sizeof(manual_control_setpoint));
 	struct vehicle_status_s vstatus;
 	memset(&vstatus, 0, sizeof(vstatus));
 	struct position_setpoint_s global_sp;
@@ -265,7 +265,7 @@ int rover_steering_control_thread_main(int argc, char *argv[])
 
 	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 
-	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 
 	int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
 
@@ -325,8 +325,8 @@ int rover_steering_control_thread_main(int argc, char *argv[])
 				orb_check(global_pos_sub, &pos_updated);
 				bool att_sp_updated;
 				orb_check(att_sp_sub, &att_sp_updated);
-				bool manual_sp_updated;
-				orb_check(manual_sp_sub, &manual_sp_updated);
+				bool manual_control_setpoint_updated;
+				orb_check(manual_control_setpoint_sub, &manual_control_setpoint_updated);
 
 				/* get a local copy of attitude */
 				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
@@ -338,10 +338,10 @@ int rover_steering_control_thread_main(int argc, char *argv[])
 				/* control attitude / heading */
 				control_attitude(&_att_sp, &att, &actuators);
 
-				if (manual_sp_updated)
+				if (manual_control_setpoint_updated)
 					/* get the RC (or otherwise user based) input */
 				{
-					orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
+					orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual_control_setpoint);
 				}
 
 				// XXX copy from manual depending on flight / usage mode to override

src/modules/commander/Arming/PreFlightCheck/checks/manualControlCheck.cpp

@@ -45,12 +45,12 @@ bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const boo
 
 	uORB::SubscriptionData<manual_control_setpoint_s> manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	manual_control_setpoint_sub.update();
-	const manual_control_setpoint_s &manual_control = manual_control_setpoint_sub.get();
+	const manual_control_setpoint_s &manual_control_setpoint = manual_control_setpoint_sub.get();
 
-	if (hrt_elapsed_time(&manual_control.timestamp) < 1_s) {
+	if (hrt_elapsed_time(&manual_control_setpoint.timestamp) < 1_s) {
 
 		//check action switches
-		if (manual_control.return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+		if (manual_control_setpoint.return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 			success = false;
 
 			if (report_fail) {
@@ -58,7 +58,7 @@ bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const boo
 			}
 		}
 
-		if (manual_control.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+		if (manual_control_setpoint.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 			success = false;
 
 			if (report_fail) {
@@ -66,7 +66,7 @@ bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const boo
 			}
 		}
 
-		if (manual_control.gear_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+		if (manual_control_setpoint.gear_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 			success = false;
 
 			if (report_fail) {
@@ -74,7 +74,7 @@ bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const boo
 			}
 		}
 
-		if (manual_control.transition_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+		if (manual_control_setpoint.transition_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 			success = false;
 
 			if (report_fail) {

src/modules/commander/Commander.cpp

@@ -713,8 +713,8 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
 							break;
 						}
 
-						const bool throttle_above_low = (_sp_man.z > 0.1f);
-						const bool throttle_above_center = (_sp_man.z > 0.6f);
+						const bool throttle_above_low = (_manual_control_setpoint.z > 0.1f);
+						const bool throttle_above_center = (_manual_control_setpoint.z > 0.6f);
 
 						if (cmd_arms && throttle_above_center &&
 						    (status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL ||
@@ -1428,7 +1428,7 @@ Commander::run()
 
 #endif // BOARD_HAS_POWER_CONTROL
 
-		_sp_man_sub.update(&_sp_man);
+		_manual_control_setpoint_sub.update(&_manual_control_setpoint);
 
 		offboard_control_update();
 
@@ -1773,7 +1773,7 @@ Commander::run()
 
 			// reset if no longer in LOITER or if manually switched to LOITER
 			const bool in_loiter_mode = _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER;
-			const bool manual_loiter_switch_on = _sp_man.loiter_switch == manual_control_setpoint_s::SWITCH_POS_ON;
+			const bool manual_loiter_switch_on = _manual_control_setpoint.loiter_switch == manual_control_setpoint_s::SWITCH_POS_ON;
 
 			if (!in_loiter_mode || manual_loiter_switch_on) {
 				_geofence_loiter_on = false;
@@ -1782,7 +1782,7 @@ Commander::run()
 
 			// reset if no longer in RTL or if manually switched to RTL
 			const bool in_rtl_mode = _internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL;
-			const bool manual_return_switch_on = _sp_man.return_switch == manual_control_setpoint_s::SWITCH_POS_ON;
+			const bool manual_return_switch_on = _manual_control_setpoint.return_switch == manual_control_setpoint_s::SWITCH_POS_ON;
 
 			if (!in_rtl_mode || manual_return_switch_on) {
 				_geofence_rtl_on = false;
@@ -1819,11 +1819,11 @@ Commander::run()
 		if ((override_auto_mode || override_offboard_mode) && is_rotary_wing
 		    && !in_low_battery_failsafe && !_geofence_warning_action_on) {
 			// transition to previous state if sticks are touched
-			if ((_last_sp_man.timestamp != _sp_man.timestamp) &&
-			    ((fabsf(_sp_man.x - _last_sp_man.x) > _min_stick_change) ||
-			     (fabsf(_sp_man.y - _last_sp_man.y) > _min_stick_change) ||
-			     (fabsf(_sp_man.z - _last_sp_man.z) > _min_stick_change) ||
-			     (fabsf(_sp_man.r - _last_sp_man.r) > _min_stick_change))) {
+			if ((_last_manual_control_setpoint.timestamp != _manual_control_setpoint.timestamp) &&
+			    ((fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > _min_stick_change) ||
+			     (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > _min_stick_change) ||
+			     (fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) > _min_stick_change) ||
+			     (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > _min_stick_change))) {
 
 				// revert to position control in any case
 				main_state_transition(status, commander_state_s::MAIN_STATE_POSCTL, status_flags, &_internal_state);
@@ -1849,8 +1849,8 @@ Commander::run()
 		}
 
 		/* RC input check */
-		if (!status_flags.rc_input_blocked && _sp_man.timestamp != 0 &&
-		    (hrt_elapsed_time(&_sp_man.timestamp) < (_param_com_rc_loss_t.get() * 1_s))) {
+		if (!status_flags.rc_input_blocked && _manual_control_setpoint.timestamp != 0 &&
+		    (hrt_elapsed_time(&_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s))) {
 
 			/* handle the case where RC signal was regained */
 			if (!status_flags.rc_signal_found_once) {
@@ -1873,19 +1873,22 @@ Commander::run()
 			status.rc_signal_lost = false;
 
 			const bool in_armed_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
-			const bool arm_switch_or_button_mapped = _sp_man.arm_switch != manual_control_setpoint_s::SWITCH_POS_NONE;
+			const bool arm_switch_or_button_mapped =
+				_manual_control_setpoint.arm_switch != manual_control_setpoint_s::SWITCH_POS_NONE;
 			const bool arm_button_pressed = _param_arm_switch_is_button.get()
-							&& (_sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON);
+							&& (_manual_control_setpoint.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON);
 
 			/* DISARM
 			 * check if left stick is in lower left position or arm button is pushed or arm switch has transition from arm to disarm
 			 * and we are in MANUAL, Rattitude, or AUTO_READY mode or (ASSIST mode and landed)
 			 * do it only for rotary wings in manual mode or fixed wing if landed.
 			 * Disable stick-disarming if arming switch or button is mapped */
-			const bool stick_in_lower_left = _sp_man.r < -STICK_ON_OFF_LIMIT && (_sp_man.z < 0.1f) && !arm_switch_or_button_mapped;
+			const bool stick_in_lower_left = _manual_control_setpoint.r < -STICK_ON_OFF_LIMIT
+							 && (_manual_control_setpoint.z < 0.1f)
+							 && !arm_switch_or_button_mapped;
 			const bool arm_switch_to_disarm_transition = !_param_arm_switch_is_button.get() &&
-					(_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) &&
-					(_sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF);
+					(_last_manual_control_setpoint_arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) &&
+					(_manual_control_setpoint.arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF);
 
 			if (in_armed_state &&
 			    (status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF) &&
@@ -1907,7 +1910,8 @@ Commander::run()
 
 				_stick_off_counter++;
 
-			} else if (!(_param_arm_switch_is_button.get() && _sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) {
+			} else if (!(_param_arm_switch_is_button.get()
+				     && _manual_control_setpoint.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) {
 				/* do not reset the counter when holding the arm button longer than needed */
 				_stick_off_counter = 0;
 			}
@@ -1916,7 +1920,7 @@ Commander::run()
 			 * check if left stick is in lower right position or arm button is pushed or arm switch has transition from disarm to arm
 			 * and we're in MANUAL mode.
 			 * Disable stick-arming if arming switch or button is mapped */
-			const bool stick_in_lower_right = _sp_man.r > STICK_ON_OFF_LIMIT && _sp_man.z < 0.1f
+			const bool stick_in_lower_right = _manual_control_setpoint.r > STICK_ON_OFF_LIMIT && _manual_control_setpoint.z < 0.1f
 							  && !arm_switch_or_button_mapped;
 			/* allow a grace period for re-arming: preflight checks don't need to pass during that time,
 			 * for example for accidential in-air disarming */
@@ -1924,9 +1928,9 @@ Commander::run()
 							    && (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s);
 
 			const bool arm_switch_to_arm_transition = !_param_arm_switch_is_button.get() &&
-					(_last_sp_man_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) &&
-					(_sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) &&
-					(_sp_man.z < 0.1f || in_arming_grace_period);
+					(_last_manual_control_setpoint_arm_switch == manual_control_setpoint_s::SWITCH_POS_OFF) &&
+					(_manual_control_setpoint.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON) &&
+					(_manual_control_setpoint.z < 0.1f || in_arming_grace_period);
 
 			if (!in_armed_state &&
 			    (status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF) &&
@@ -1966,12 +1970,13 @@ Commander::run()
 
 				_stick_on_counter++;
 
-			} else if (!(_param_arm_switch_is_button.get() && _sp_man.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) {
+			} else if (!(_param_arm_switch_is_button.get()
+				     && _manual_control_setpoint.arm_switch == manual_control_setpoint_s::SWITCH_POS_ON)) {
 				/* do not reset the counter when holding the arm button longer than needed */
 				_stick_on_counter = 0;
 			}
 
-			_last_sp_man_arm_switch = _sp_man.arm_switch;
+			_last_manual_control_setpoint_arm_switch = _manual_control_setpoint.arm_switch;
 
 			if (arming_ret == TRANSITION_DENIED) {
 				/*
@@ -1984,7 +1989,7 @@ Commander::run()
 			}
 
 			/* evaluate the main state machine according to mode switches */
-			bool first_rc_eval = (_last_sp_man.timestamp == 0) && (_sp_man.timestamp > 0);
+			bool first_rc_eval = (_last_manual_control_setpoint.timestamp == 0) && (_manual_control_setpoint.timestamp > 0);
 			transition_result_t main_res = set_main_state(status, &_status_changed);
 
 			/* store last position lock state */
@@ -2003,7 +2008,7 @@ Commander::run()
 			}
 
 			/* check throttle kill switch */
-			if (_sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+			if (_manual_control_setpoint.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 				/* set lockdown flag */
 				if (!armed.manual_lockdown) {
 					mavlink_log_emergency(&mavlink_log_pub, "Manual kill-switch engaged");
@@ -2011,7 +2016,7 @@ Commander::run()
 					armed.manual_lockdown = true;
 				}
 
-			} else if (_sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
+			} else if (_manual_control_setpoint.kill_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
 				if (armed.manual_lockdown) {
 					mavlink_log_emergency(&mavlink_log_pub, "Manual kill-switch disengaged");
 					_status_changed = true;
@@ -2025,7 +2030,7 @@ Commander::run()
 			if (!status_flags.rc_input_blocked && !status.rc_signal_lost && status_flags.rc_signal_found_once) {
 				mavlink_log_critical(&mavlink_log_pub, "Manual control lost");
 				status.rc_signal_lost = true;
-				_rc_signal_lost_timestamp = _sp_man.timestamp;
+				_rc_signal_lost_timestamp = _manual_control_setpoint.timestamp;
 				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, status);
 				_status_changed = true;
 			}
@@ -2618,19 +2623,19 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 	const bool altitude_got_valid = (!_last_condition_local_altitude_valid && status_flags.condition_local_altitude_valid);
 	const bool lpos_got_valid = (!_last_condition_local_position_valid && status_flags.condition_local_position_valid);
 	const bool gpos_got_valid = (!_last_condition_global_position_valid && status_flags.condition_global_position_valid);
-	const bool first_time_rc = (_last_sp_man.timestamp == 0);
-	const bool rc_values_updated = (_last_sp_man.timestamp != _sp_man.timestamp);
+	const bool first_time_rc = (_last_manual_control_setpoint.timestamp == 0);
+	const bool rc_values_updated = (_last_manual_control_setpoint.timestamp != _manual_control_setpoint.timestamp);
 	const bool some_switch_changed =
-		(_last_sp_man.offboard_switch != _sp_man.offboard_switch)
-		|| (_last_sp_man.return_switch != _sp_man.return_switch)
-		|| (_last_sp_man.mode_switch != _sp_man.mode_switch)
-		|| (_last_sp_man.acro_switch != _sp_man.acro_switch)
-		|| (_last_sp_man.rattitude_switch != _sp_man.rattitude_switch)
-		|| (_last_sp_man.posctl_switch != _sp_man.posctl_switch)
-		|| (_last_sp_man.loiter_switch != _sp_man.loiter_switch)
-		|| (_last_sp_man.mode_slot != _sp_man.mode_slot)
-		|| (_last_sp_man.stab_switch != _sp_man.stab_switch)
-		|| (_last_sp_man.man_switch != _sp_man.man_switch);
+		(_last_manual_control_setpoint.offboard_switch != _manual_control_setpoint.offboard_switch)
+		|| (_last_manual_control_setpoint.return_switch != _manual_control_setpoint.return_switch)
+		|| (_last_manual_control_setpoint.mode_switch != _manual_control_setpoint.mode_switch)
+		|| (_last_manual_control_setpoint.acro_switch != _manual_control_setpoint.acro_switch)
+		|| (_last_manual_control_setpoint.rattitude_switch != _manual_control_setpoint.rattitude_switch)
+		|| (_last_manual_control_setpoint.posctl_switch != _manual_control_setpoint.posctl_switch)
+		|| (_last_manual_control_setpoint.loiter_switch != _manual_control_setpoint.loiter_switch)
+		|| (_last_manual_control_setpoint.mode_slot != _manual_control_setpoint.mode_slot)
+		|| (_last_manual_control_setpoint.stab_switch != _manual_control_setpoint.stab_switch)
+		|| (_last_manual_control_setpoint.man_switch != _manual_control_setpoint.man_switch);
 
 	// only switch mode based on RC switch if necessary to also allow mode switching via MAVLink
 	const bool should_evaluate_rc_mode_switch = first_time_rc
@@ -2653,25 +2658,25 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 			_internal_state.main_state == commander_state_s::MAIN_STATE_RATTITUDE ||
 			_internal_state.main_state == commander_state_s::MAIN_STATE_STAB)) {
 
-			_last_sp_man.timestamp = _sp_man.timestamp;
-			_last_sp_man.x = _sp_man.x;
-			_last_sp_man.y = _sp_man.y;
-			_last_sp_man.z = _sp_man.z;
-			_last_sp_man.r = _sp_man.r;
+			_last_manual_control_setpoint.timestamp = _manual_control_setpoint.timestamp;
+			_last_manual_control_setpoint.x = _manual_control_setpoint.x;
+			_last_manual_control_setpoint.y = _manual_control_setpoint.y;
+			_last_manual_control_setpoint.z = _manual_control_setpoint.z;
+			_last_manual_control_setpoint.r = _manual_control_setpoint.r;
 		}
 
 		/* no timestamp change or no switch change -> nothing changed */
 		return TRANSITION_NOT_CHANGED;
 	}
 
-	_last_sp_man = _sp_man;
+	_last_manual_control_setpoint = _manual_control_setpoint;
 
 	// reset the position and velocity validity calculation to give the best change of being able to select
 	// the desired mode
 	reset_posvel_validity(changed);
 
 	/* offboard switch overrides main switch */
-	if (_sp_man.offboard_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+	if (_manual_control_setpoint.offboard_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 		res = main_state_transition(status_local, commander_state_s::MAIN_STATE_OFFBOARD, status_flags, &_internal_state);
 
 		if (res == TRANSITION_DENIED) {
@@ -2685,7 +2690,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 	}
 
 	/* RTL switch overrides main switch */
-	if (_sp_man.return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+	if (_manual_control_setpoint.return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 		res = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, &_internal_state);
 
 		if (res == TRANSITION_DENIED) {
@@ -2704,7 +2709,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 	}
 
 	/* Loiter switch overrides main switch */
-	if (_sp_man.loiter_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+	if (_manual_control_setpoint.loiter_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 		res = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, status_flags, &_internal_state);
 
 		if (res == TRANSITION_DENIED) {
@@ -2716,14 +2721,14 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 	}
 
 	/* we know something has changed - check if we are in mode slot operation */
-	if (_sp_man.mode_slot != manual_control_setpoint_s::MODE_SLOT_NONE) {
+	if (_manual_control_setpoint.mode_slot != manual_control_setpoint_s::MODE_SLOT_NONE) {
 
-		if (_sp_man.mode_slot > manual_control_setpoint_s::MODE_SLOT_NUM) {
+		if (_manual_control_setpoint.mode_slot > manual_control_setpoint_s::MODE_SLOT_NUM) {
 			PX4_WARN("m slot overflow");
 			return TRANSITION_DENIED;
 		}
 
-		int new_mode = _flight_mode_slots[_sp_man.mode_slot - 1];
+		int new_mode = _flight_mode_slots[_manual_control_setpoint.mode_slot - 1];
 
 		if (new_mode < 0) {
 			/* slot is unused */
@@ -2855,19 +2860,19 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 	}
 
 	/* offboard and RTL switches off or denied, check main mode switch */
-	switch (_sp_man.mode_switch) {
+	switch (_manual_control_setpoint.mode_switch) {
 	case manual_control_setpoint_s::SWITCH_POS_NONE:
 		res = TRANSITION_NOT_CHANGED;
 		break;
 
 	case manual_control_setpoint_s::SWITCH_POS_OFF:		// MANUAL
-		if (_sp_man.stab_switch == manual_control_setpoint_s::SWITCH_POS_NONE &&
-		    _sp_man.man_switch == manual_control_setpoint_s::SWITCH_POS_NONE) {
+		if (_manual_control_setpoint.stab_switch == manual_control_setpoint_s::SWITCH_POS_NONE &&
+		    _manual_control_setpoint.man_switch == manual_control_setpoint_s::SWITCH_POS_NONE) {
 			/*
 			 * Legacy mode:
 			 * Acro switch being used as stabilized switch in FW.
 			 */
-			if (_sp_man.acro_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+			if (_manual_control_setpoint.acro_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 				/* manual mode is stabilized already for multirotors, so switch to acro
 				 * for any non-manual mode
 				 */
@@ -2881,7 +2886,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 					res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &_internal_state);
 				}
 
-			} else if (_sp_man.rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+			} else if (_manual_control_setpoint.rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 				/* Similar to acro transitions for multirotors.  FW aircraft don't need a
 				 * rattitude mode.*/
 				if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
@@ -2900,19 +2905,19 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 			 * - Acro is Acro
 			 * - Manual is not default anymore when the manaul switch is assigned
 			 */
-			if (_sp_man.man_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+			if (_manual_control_setpoint.man_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 				res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &_internal_state);
 
-			} else if (_sp_man.acro_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+			} else if (_manual_control_setpoint.acro_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 				res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ACRO, status_flags, &_internal_state);
 
-			} else if (_sp_man.rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+			} else if (_manual_control_setpoint.rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 				res = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, status_flags, &_internal_state);
 
-			} else if (_sp_man.stab_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+			} else if (_manual_control_setpoint.stab_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 				res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, status_flags, &_internal_state);
 
-			} else if (_sp_man.man_switch == manual_control_setpoint_s::SWITCH_POS_NONE) {
+			} else if (_manual_control_setpoint.man_switch == manual_control_setpoint_s::SWITCH_POS_NONE) {
 				// default to MANUAL when no manual switch is set
 				res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &_internal_state);
 
@@ -2926,7 +2931,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 		break;
 
 	case manual_control_setpoint_s::SWITCH_POS_MIDDLE:		// ASSIST
-		if (_sp_man.posctl_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+		if (_manual_control_setpoint.posctl_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
 			res = main_state_transition(status_local, commander_state_s::MAIN_STATE_POSCTL, status_flags, &_internal_state);
 
 			if (res != TRANSITION_DENIED) {
@@ -2943,7 +2948,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
 			break;	// changed successfully or already in this mode
 		}
 
-		if (_sp_man.posctl_switch != manual_control_setpoint_s::SWITCH_POS_ON) {
+		if (_manual_control_setpoint.posctl_switch != manual_control_setpoint_s::SWITCH_POS_ON) {
 			print_reject_mode("ALTITUDE CONTROL");
 		}
 

src/modules/commander/Commander.hpp

@@ -343,11 +343,11 @@ private:
 
 	unsigned int	_leds_counter{0};
 
-	manual_control_setpoint_s	_sp_man{};		///< the current manual control setpoint
-	manual_control_setpoint_s	_last_sp_man{};	///< the manual control setpoint valid at the last mode switch
+	manual_control_setpoint_s	_manual_control_setpoint{};		///< the current manual control setpoint
+	manual_control_setpoint_s	_last_manual_control_setpoint{};	///< the manual control setpoint valid at the last mode switch
 	hrt_abstime	_rc_signal_lost_timestamp{0};		///< Time at which the RC reception was lost
 	int32_t		_flight_mode_slots[manual_control_setpoint_s::MODE_SLOT_NUM] {};
-	uint8_t		_last_sp_man_arm_switch{0};
+	uint8_t		_last_manual_control_setpoint_arm_switch{0};
 	float		_min_stick_change{};
 	uint32_t	_stick_off_counter{0};
 	uint32_t	_stick_on_counter{0};
@@ -400,7 +400,7 @@ private:
 	uORB::Subscription					_land_detector_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription					_parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription					_safety_sub{ORB_ID(safety)};
-	uORB::Subscription					_sp_man_sub{ORB_ID(manual_control_setpoint)};
+	uORB::Subscription					_manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription					_subsys_sub{ORB_ID(subsystem_info)};
 	uORB::Subscription					_system_power_sub{ORB_ID(system_power)};
 	uORB::Subscription					_telemetry_status_sub{ORB_ID(telemetry_status)};

src/modules/commander/rc_calibration.cpp

@@ -52,17 +52,17 @@
 
 int do_trim_calibration(orb_advert_t *mavlink_log_pub)
 {
-	uORB::Subscription sub_man{ORB_ID(manual_control_setpoint)};
+	uORB::Subscription manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	px4_usleep(400000);
-	manual_control_setpoint_s sp{};
-	bool changed = sub_man.updated();
+	manual_control_setpoint_s manual_control_setpoint{};
+	bool changed = manual_control_setpoint_sub.updated();
 
 	if (!changed) {
 		mavlink_log_critical(mavlink_log_pub, "no inputs, aborting");
 		return PX4_ERROR;
 	}
 
-	sub_man.copy(&sp);
+	manual_control_setpoint_sub.copy(&manual_control_setpoint);
 
 	/* load trim values which are active */
 	float roll_trim_active;
@@ -83,15 +83,15 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
 	/* set parameters: the new trim values are the combination of active trim values
 	   and the values coming from the remote control of the user
 	*/
-	float p = sp.y * roll_scale + roll_trim_active;
+	float p = manual_control_setpoint.y * roll_scale + roll_trim_active;
 	int p1r = param_set(param_find("TRIM_ROLL"), &p);
 	/*
 	 we explicitly swap sign here because the trim is added to the actuator controls
 	 which are moving in an inverse sense to manual pitch inputs
 	*/
-	p = -sp.x * pitch_scale + pitch_trim_active;
+	p = -manual_control_setpoint.x * pitch_scale + pitch_trim_active;
 	int p2r = param_set(param_find("TRIM_PITCH"), &p);
-	p = sp.r * yaw_scale + yaw_trim_active;
+	p = manual_control_setpoint.r * yaw_scale + yaw_trim_active;
 	int p3r = param_set(param_find("TRIM_YAW"), &p);
 
 	if (p1r != 0 || p2r != 0 || p3r != 0) {

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -141,11 +141,12 @@ FixedwingAttitudeControl::vehicle_manual_poll()
 	if (_vcontrol_mode.flag_control_manual_enabled && (!is_tailsitter_transition || is_fixed_wing)) {
 
 		// Always copy the new manual setpoint, even if it wasn't updated, to fill the _actuators with valid values
-		if (_manual_sub.copy(&_manual)) {
+		if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) {
 
 			// Check if we are in rattitude mode and the pilot is above the threshold on pitch
 			if (_vcontrol_mode.flag_control_rattitude_enabled) {
-				if (fabsf(_manual.y) > _param_fw_ratt_th.get() || fabsf(_manual.x) > _param_fw_ratt_th.get()) {
+				if (fabsf(_manual_control_setpoint.y) > _param_fw_ratt_th.get()
+				    || fabsf(_manual_control_setpoint.x) > _param_fw_ratt_th.get()) {
 					_vcontrol_mode.flag_control_attitude_enabled = false;
 				}
 			}
@@ -156,16 +157,17 @@ FixedwingAttitudeControl::vehicle_manual_poll()
 				if (_vcontrol_mode.flag_control_attitude_enabled) {
 					// STABILIZED mode generate the attitude setpoint from manual user inputs
 
-					_att_sp.roll_body = _manual.y * radians(_param_fw_man_r_max.get()) + radians(_param_fw_rsp_off.get());
+					_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get()) + radians(_param_fw_rsp_off.get());
 					_att_sp.roll_body = constrain(_att_sp.roll_body,
 								      -radians(_param_fw_man_r_max.get()), radians(_param_fw_man_r_max.get()));
 
-					_att_sp.pitch_body = -_manual.x * radians(_param_fw_man_p_max.get()) + radians(_param_fw_psp_off.get());
+					_att_sp.pitch_body = -_manual_control_setpoint.x * radians(_param_fw_man_p_max.get())
+							     + radians(_param_fw_psp_off.get());
 					_att_sp.pitch_body = constrain(_att_sp.pitch_body,
 								       -radians(_param_fw_man_p_max.get()), radians(_param_fw_man_p_max.get()));
 
 					_att_sp.yaw_body = 0.0f;
-					_att_sp.thrust_body[0] = _manual.z;
+					_att_sp.thrust_body[0] = _manual_control_setpoint.z;
 
 					Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
 					q.copyTo(_att_sp.q_d);
@@ -179,19 +181,22 @@ FixedwingAttitudeControl::vehicle_manual_poll()
 
 					// RATE mode we need to generate the rate setpoint from manual user inputs
 					_rates_sp.timestamp = hrt_absolute_time();
-					_rates_sp.roll = _manual.y * radians(_param_fw_acro_x_max.get());
-					_rates_sp.pitch = -_manual.x * radians(_param_fw_acro_y_max.get());
-					_rates_sp.yaw = _manual.r * radians(_param_fw_acro_z_max.get());
-					_rates_sp.thrust_body[0] = _manual.z;
+					_rates_sp.roll = _manual_control_setpoint.y * radians(_param_fw_acro_x_max.get());
+					_rates_sp.pitch = -_manual_control_setpoint.x * radians(_param_fw_acro_y_max.get());
+					_rates_sp.yaw = _manual_control_setpoint.r * radians(_param_fw_acro_z_max.get());
+					_rates_sp.thrust_body[0] = _manual_control_setpoint.z;
 
 					_rate_sp_pub.publish(_rates_sp);
 
 				} else {
 					/* manual/direct control */
-					_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y * _param_fw_man_r_sc.get() + _param_trim_roll.get();
-					_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x * _param_fw_man_p_sc.get() + _param_trim_pitch.get();
-					_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r * _param_fw_man_y_sc.get() + _param_trim_yaw.get();
-					_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
+					_actuators.control[actuator_controls_s::INDEX_ROLL] =
+						_manual_control_setpoint.y * _param_fw_man_r_sc.get() + _param_trim_roll.get();
+					_actuators.control[actuator_controls_s::INDEX_PITCH] =
+						-_manual_control_setpoint.x * _param_fw_man_p_sc.get() + _param_trim_pitch.get();
+					_actuators.control[actuator_controls_s::INDEX_YAW] =
+						_manual_control_setpoint.r * _param_fw_man_y_sc.get() + _param_trim_yaw.get();
+					_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual_control_setpoint.z;
 				}
 			}
 		}
@@ -543,7 +548,7 @@ void FixedwingAttitudeControl::Run()
 
 					/* add in manual rudder control in manual modes */
 					if (_vcontrol_mode.flag_control_manual_enabled) {
-						_actuators.control[actuator_controls_s::INDEX_YAW] += _manual.r;
+						_actuators.control[actuator_controls_s::INDEX_YAW] += _manual_control_setpoint.r;
 					}
 
 					if (!PX4_ISFINITE(yaw_u)) {
@@ -626,10 +631,10 @@ void FixedwingAttitudeControl::Run()
 				* constrain(_actuators.control[actuator_controls_s::INDEX_ROLL], -1.0f, 1.0f);
 
 		_actuators.control[actuator_controls_s::INDEX_FLAPS] = _flaps_applied;
-		_actuators.control[5] = _manual.aux1;
+		_actuators.control[5] = _manual_control_setpoint.aux1;
 		_actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = _flaperons_applied;
 		// FIXME: this should use _vcontrol_mode.landing_gear_pos in the future
-		_actuators.control[7] = _manual.aux3;
+		_actuators.control[7] = _manual_control_setpoint.aux3;
 
 		/* lazily publish the setpoint only once available */
 		_actuators.timestamp = hrt_absolute_time();
@@ -652,9 +657,9 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
 	float flap_control = 0.0f;
 
 	/* map flaps by default to manual if valid */
-	if (PX4_ISFINITE(_manual.flaps) && _vcontrol_mode.flag_control_manual_enabled
+	if (PX4_ISFINITE(_manual_control_setpoint.flaps) && _vcontrol_mode.flag_control_manual_enabled
 	    && fabsf(_param_fw_flaps_scl.get()) > 0.01f) {
-		flap_control = 0.5f * (_manual.flaps + 1.0f) * _param_fw_flaps_scl.get();
+		flap_control = 0.5f * (_manual_control_setpoint.flaps + 1.0f) * _param_fw_flaps_scl.get();
 
 	} else if (_vcontrol_mode.flag_control_auto_enabled
 		   && fabsf(_param_fw_flaps_scl.get()) > 0.01f) {
@@ -686,10 +691,10 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
 	float flaperon_control = 0.0f;
 
 	/* map flaperons by default to manual if valid */
-	if (PX4_ISFINITE(_manual.aux2) && _vcontrol_mode.flag_control_manual_enabled
+	if (PX4_ISFINITE(_manual_control_setpoint.aux2) && _vcontrol_mode.flag_control_manual_enabled
 	    && fabsf(_param_fw_flaperon_scl.get()) > 0.01f) {
 
-		flaperon_control = 0.5f * (_manual.aux2 + 1.0f) * _param_fw_flaperon_scl.get();
+		flaperon_control = 0.5f * (_manual_control_setpoint.aux2 + 1.0f) * _param_fw_flaperon_scl.get();
 
 	} else if (_vcontrol_mode.flag_control_auto_enabled
 		   && fabsf(_param_fw_flaperon_scl.get()) > 0.01f) {

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -98,7 +98,7 @@ private:
 	uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};		/**< vehicle attitude setpoint */
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};			/**< battery status subscription */
 	uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};		/**< local position subscription */
-	uORB::Subscription _manual_sub{ORB_ID(manual_control_setpoint)};		/**< notification of manual control updates */
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};		/**< notification of manual control updates */
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};		/**< notification of parameter updates */
 	uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};		/**< vehicle rates setpoint */
 	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle status subscription */
@@ -114,7 +114,7 @@ private:
 	uORB::PublicationMulti<rate_ctrl_status_s>	_rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
 
 	actuator_controls_s			_actuators {};		/**< actuator control inputs */
-	manual_control_setpoint_s		_manual {};		/**< r/c channel data */
+	manual_control_setpoint_s		_manual_control_setpoint {};		/**< r/c channel data */
 	vehicle_attitude_s			_att {};		/**< vehicle attitude setpoint */
 	vehicle_attitude_setpoint_s		_att_sp {};		/**< vehicle attitude setpoint */
 	vehicle_control_mode_s			_vcontrol_mode {};	/**< vehicle control mode */

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -229,17 +229,17 @@ FixedwingPositionControl::get_demanded_airspeed()
 	float altctrl_airspeed = 0;
 
 	// neutral throttle corresponds to trim airspeed
-	if (_manual.z < 0.5f) {
+	if (_manual_control_setpoint.z < 0.5f) {
 		// lower half of throttle is min to trim airspeed
 		altctrl_airspeed = _param_fw_airspd_min.get() +
 				   (_param_fw_airspd_trim.get() - _param_fw_airspd_min.get()) *
-				   _manual.z * 2;
+				   _manual_control_setpoint.z * 2;
 
 	} else {
 		// upper half of throttle is trim to max airspeed
 		altctrl_airspeed = _param_fw_airspd_trim.get() +
 				   (_param_fw_airspd_max.get() - _param_fw_airspd_trim.get()) *
-				   (_manual.z * 2 - 1);
+				   (_manual_control_setpoint.z * 2 - 1);
 	}
 
 	return altctrl_airspeed;
@@ -481,15 +481,15 @@ FixedwingPositionControl::update_desired_altitude(float dt)
 	 * an axis. Positive X means to rotate positively around
 	 * the X axis in NED frame, which is pitching down
 	 */
-	if (_manual.x > deadBand) {
+	if (_manual_control_setpoint.x > deadBand) {
 		/* pitching down */
-		float pitch = -(_manual.x - deadBand) / factor;
+		float pitch = -(_manual_control_setpoint.x - deadBand) / factor;
 		_hold_alt += (_param_fw_t_sink_max.get() * dt) * pitch;
 		_was_in_deadband = false;
 
-	} else if (_manual.x < - deadBand) {
+	} else if (_manual_control_setpoint.x < - deadBand) {
 		/* pitching up */
-		float pitch = -(_manual.x + deadBand) / factor;
+		float pitch = -(_manual_control_setpoint.x + deadBand) / factor;
 		_hold_alt += (_param_fw_t_clmb_max.get() * dt) * pitch;
 		_was_in_deadband = false;
 		climbout_mode = (pitch > MANUAL_THROTTLE_CLIMBOUT_THRESH);
@@ -791,7 +791,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
 
 			/* reset setpoints from other modes (auto) otherwise we won't
 			 * level out without new manual input */
-			_att_sp.roll_body = _manual.y * radians(_param_fw_man_r_max.get());
+			_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
 			_att_sp.yaw_body = 0;
 		}
 
@@ -811,7 +811,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
 		/* throttle limiting */
 		throttle_max = _param_fw_thr_max.get();
 
-		if (_vehicle_land_detected.landed && (fabsf(_manual.z) < THROTTLE_THRESH)) {
+		if (_vehicle_land_detected.landed && (fabsf(_manual_control_setpoint.z) < THROTTLE_THRESH)) {
 			throttle_max = 0.0f;
 		}
 
@@ -827,8 +827,8 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
 					   tecs_status_s::TECS_MODE_NORMAL);
 
 		/* heading control */
-		if (fabsf(_manual.y) < HDG_HOLD_MAN_INPUT_THRESH &&
-		    fabsf(_manual.r) < HDG_HOLD_MAN_INPUT_THRESH) {
+		if (fabsf(_manual_control_setpoint.y) < HDG_HOLD_MAN_INPUT_THRESH &&
+		    fabsf(_manual_control_setpoint.r) < HDG_HOLD_MAN_INPUT_THRESH) {
 
 			/* heading / roll is zero, lock onto current heading */
 			if (fabsf(_vehicle_rates_sub.get().xyz[2]) < HDG_HOLD_YAWRATE_THRESH && !_yaw_lock_engaged) {
@@ -879,12 +879,12 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
 			}
 		}
 
-		if (!_yaw_lock_engaged || fabsf(_manual.y) >= HDG_HOLD_MAN_INPUT_THRESH ||
-		    fabsf(_manual.r) >= HDG_HOLD_MAN_INPUT_THRESH) {
+		if (!_yaw_lock_engaged || fabsf(_manual_control_setpoint.y) >= HDG_HOLD_MAN_INPUT_THRESH ||
+		    fabsf(_manual_control_setpoint.r) >= HDG_HOLD_MAN_INPUT_THRESH) {
 
 			_hdg_hold_enabled = false;
 			_yaw_lock_engaged = false;
-			_att_sp.roll_body = _manual.y * radians(_param_fw_man_r_max.get());
+			_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
 			_att_sp.yaw_body = 0;
 		}
 
@@ -913,7 +913,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
 		/* throttle limiting */
 		throttle_max = _param_fw_thr_max.get();
 
-		if (_vehicle_land_detected.landed && (fabsf(_manual.z) < THROTTLE_THRESH)) {
+		if (_vehicle_land_detected.landed && (fabsf(_manual_control_setpoint.z) < THROTTLE_THRESH)) {
 			throttle_max = 0.0f;
 		}
 
@@ -928,7 +928,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
 					   climbout_requested ? radians(10.0f) : pitch_limit_min,
 					   tecs_status_s::TECS_MODE_NORMAL);
 
-		_att_sp.roll_body = _manual.y * radians(_param_fw_man_r_max.get());
+		_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
 		_att_sp.yaw_body = 0;
 
 	} else {
@@ -1544,7 +1544,7 @@ FixedwingPositionControl::Run()
 		_pos_reset_counter = _local_pos.vxy_reset_counter;
 
 		airspeed_poll();
-		_manual_control_sub.update(&_manual);
+		_manual_control_setpoint_sub.update(&_manual_control_setpoint);
 		_pos_sp_triplet_sub.update(&_pos_sp_triplet);
 		vehicle_attitude_poll();
 		vehicle_command_poll();

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -152,7 +152,7 @@ private:
 
 	uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};		///< control mode subscription
 	uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
-	uORB::Subscription _manual_control_sub{ORB_ID(manual_control_setpoint)};	///< notification of manual control updates
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};	///< notification of manual control updates
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};		///< notification of parameter updates
 	uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
 	uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro)};
@@ -167,7 +167,7 @@ private:
 	uORB::Publication<position_controller_landing_status_s>	_pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)};	///< landing status publication
 	uORB::Publication<tecs_status_s>			_tecs_status_pub{ORB_ID(tecs_status)};						///< TECS status publication
 
-	manual_control_setpoint_s	_manual {};			///< r/c channel data
+	manual_control_setpoint_s	_manual_control_setpoint {};			///< r/c channel data
 	position_setpoint_triplet_s	_pos_sp_triplet {};		///< triplet of mission items
 	vehicle_attitude_s		_att {};			///< vehicle attitude setpoint
 	vehicle_attitude_setpoint_s	_att_sp {};			///< vehicle attitude setpoint

src/modules/logger/logger.cpp

@@ -965,11 +965,11 @@ bool Logger::start_stop_logging()
 
 	if (_log_mode == LogMode::rc_aux1) {
 		// aux1-based logging
-		manual_control_setpoint_s manual_sp;
+		manual_control_setpoint_s manual_control_setpoint;
 
-		if (_manual_control_sp_sub.update(&manual_sp)) {
+		if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
 
-			desired_state = (manual_sp.aux1 > 0.3f);
+			desired_state = (manual_control_setpoint.aux1 > 0.3f);
 			updated = true;
 		}
 

src/modules/logger/logger.h

@@ -347,7 +347,7 @@ private:
 	hrt_abstime					_logger_status_last {0};
 #endif
 
-	uORB::Subscription				_manual_control_sp_sub{ORB_ID(manual_control_setpoint)};
+	uORB::Subscription				_manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription				_vehicle_command_sub{ORB_ID(vehicle_command)};
 	uORB::Subscription				_vehicle_status_sub{ORB_ID(vehicle_status)};
 	uORB::SubscriptionInterval		_log_message_sub{ORB_ID(log_message), 20};

src/modules/mavlink/mavlink_messages.cpp

@@ -3776,11 +3776,12 @@ public:
 
 	unsigned get_size() override
 	{
-		return _manual_sub.advertised() ? (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+		return _manual_control_setpoint_sub.advertised() ?
+		       (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
 private:
-	uORB::Subscription _manual_sub{ORB_ID(manual_control_setpoint)};
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 
 	/* do not allow top copying this class */
 	MavlinkStreamManualControl(MavlinkStreamManualControl &) = delete;
@@ -3792,24 +3793,24 @@ protected:
 
 	bool send(const hrt_abstime t) override
 	{
-		manual_control_setpoint_s manual;
+		manual_control_setpoint_s manual_control_setpoint;
 
-		if (_manual_sub.update(&manual)) {
+		if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
 			mavlink_manual_control_t msg{};
 
 			msg.target = mavlink_system.sysid;
-			msg.x = manual.x * 1000;
-			msg.y = manual.y * 1000;
-			msg.z = manual.z * 1000;
-			msg.r = manual.r * 1000;
+			msg.x = manual_control_setpoint.x * 1000;
+			msg.y = manual_control_setpoint.y * 1000;
+			msg.z = manual_control_setpoint.z * 1000;
+			msg.r = manual_control_setpoint.r * 1000;
 			unsigned shift = 2;
 			msg.buttons = 0;
-			msg.buttons |= (manual.mode_switch << (shift * 0));
-			msg.buttons |= (manual.return_switch << (shift * 1));
-			msg.buttons |= (manual.posctl_switch << (shift * 2));
-			msg.buttons |= (manual.loiter_switch << (shift * 3));
-			msg.buttons |= (manual.acro_switch << (shift * 4));
-			msg.buttons |= (manual.offboard_switch << (shift * 5));
+			msg.buttons |= (manual_control_setpoint.mode_switch << (shift * 0));
+			msg.buttons |= (manual_control_setpoint.return_switch << (shift * 1));
+			msg.buttons |= (manual_control_setpoint.posctl_switch << (shift * 2));
+			msg.buttons |= (manual_control_setpoint.loiter_switch << (shift * 3));
+			msg.buttons |= (manual_control_setpoint.acro_switch << (shift * 4));
+			msg.buttons |= (manual_control_setpoint.offboard_switch << (shift * 5));
 
 			mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg);
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -2036,7 +2036,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 		manual.z = man.z / 1000.0f;
 		manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
 
-		_manual_pub.publish(manual);
+		_manual_control_setpoint_pub.publish(manual);
 	}
 }
 

src/modules/mavlink/mavlink_receiver.h

@@ -265,7 +265,7 @@ private:
 	uORB::PublicationMulti<distance_sensor_s>		_distance_sensor_pub{ORB_ID(distance_sensor), ORB_PRIO_LOW};
 	uORB::PublicationMulti<distance_sensor_s>		_flow_distance_sensor_pub{ORB_ID(distance_sensor), ORB_PRIO_LOW};
 	uORB::PublicationMulti<input_rc_s>			_rc_pub{ORB_ID(input_rc), ORB_PRIO_LOW};
-	uORB::PublicationMulti<manual_control_setpoint_s>	_manual_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_LOW};
+	uORB::PublicationMulti<manual_control_setpoint_s>	_manual_control_setpoint_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_LOW};
 	uORB::PublicationMulti<ping_s>				_ping_pub{ORB_ID(ping), ORB_PRIO_LOW};
 	uORB::PublicationMulti<radio_status_s>			_radio_status_pub{ORB_ID(radio_status), ORB_PRIO_LOW};
 

src/modules/mc_att_control/mc_att_control.hpp

@@ -109,7 +109,7 @@ private:
 	uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};		/**< vehicle rates setpoint subscription */
 	uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};		/**< vehicle control mode subscription */
 	uORB::Subscription _params_sub{ORB_ID(parameter_update)};			/**< parameter updates subscription */
-	uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)};	/**< manual control setpoint subscription */
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};	/**< manual control setpoint subscription */
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};			/**< vehicle status subscription */
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};	/**< vehicle land detected subscription */
 
@@ -120,7 +120,7 @@ private:
 
 	struct vehicle_attitude_s		_v_att {};		/**< vehicle attitude */
 	struct vehicle_rates_setpoint_s		_v_rates_sp {};		/**< vehicle rates setpoint */
-	struct manual_control_setpoint_s	_manual_control_sp {};	/**< manual control setpoint */
+	struct manual_control_setpoint_s	_manual_control_setpoint {};	/**< manual control setpoint */
 	struct vehicle_control_mode_s		_v_control_mode {};	/**< vehicle control mode */
 	struct vehicle_status_s			_vehicle_status {};	/**< vehicle status */
 	struct vehicle_land_detected_s		_vehicle_land_detected {};

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -136,10 +136,10 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
 	if (reset_yaw_sp) {
 		_man_yaw_sp = yaw;
 
-	} else if (_manual_control_sp.z > 0.05f || _param_mc_airmode.get() == (int32_t)Mixer::Airmode::roll_pitch_yaw) {
+	} else if (_manual_control_setpoint.z > 0.05f || _param_mc_airmode.get() == (int32_t)Mixer::Airmode::roll_pitch_yaw) {
 
 		const float yaw_rate = math::radians(_param_mpc_man_y_max.get());
-		attitude_setpoint.yaw_sp_move_rate = _manual_control_sp.r * yaw_rate;
+		attitude_setpoint.yaw_sp_move_rate = _manual_control_setpoint.r * yaw_rate;
 		_man_yaw_sp = wrap_pi(_man_yaw_sp + attitude_setpoint.yaw_sp_move_rate * dt);
 	}
 
@@ -155,8 +155,8 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
 	 */
 	_man_x_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
 	_man_y_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
-	_man_x_input_filter.update(_manual_control_sp.x * _man_tilt_max);
-	_man_y_input_filter.update(_manual_control_sp.y * _man_tilt_max);
+	_man_x_input_filter.update(_manual_control_setpoint.x * _man_tilt_max);
+	_man_y_input_filter.update(_manual_control_setpoint.y * _man_tilt_max);
 	const float x = _man_x_input_filter.getState();
 	const float y = _man_y_input_filter.getState();
 
@@ -219,7 +219,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
 	Quatf q_sp = Eulerf(attitude_setpoint.roll_body, attitude_setpoint.pitch_body, attitude_setpoint.yaw_body);
 	q_sp.copyTo(attitude_setpoint.q_d);
 
-	attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_sp.z);
+	attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_setpoint.z);
 	attitude_setpoint.timestamp = hrt_absolute_time();
 
 	_vehicle_attitude_setpoint_pub.publish(attitude_setpoint);
@@ -299,7 +299,7 @@ MulticopterAttitudeControl::Run()
 		_last_run = now;
 
 		/* check for updates in other topics */
-		_manual_control_sp_sub.update(&_manual_control_sp);
+		_manual_control_setpoint_sub.update(&_manual_control_setpoint);
 		_v_control_mode_sub.update(&_v_control_mode);
 		_vehicle_land_detected_sub.update(&_vehicle_land_detected);
 		_vehicle_status_sub.update(&_vehicle_status);
@@ -309,8 +309,8 @@ MulticopterAttitudeControl::Run()
 		* even bother running the attitude controllers */
 		if (_v_control_mode.flag_control_rattitude_enabled) {
 			_v_control_mode.flag_control_attitude_enabled =
-				fabsf(_manual_control_sp.y) <= _param_mc_ratt_th.get() &&
-				fabsf(_manual_control_sp.x) <= _param_mc_ratt_th.get();
+				fabsf(_manual_control_setpoint.y) <= _param_mc_ratt_th.get() &&
+				fabsf(_manual_control_setpoint.x) <= _param_mc_ratt_th.get();
 		}
 
 		bool attitude_setpoint_generated = false;

src/modules/mc_rate_control/MulticopterRateControl.cpp

@@ -109,10 +109,10 @@ MulticopterRateControl::get_landing_gear_state()
 
 	float landing_gear = landing_gear_s::GEAR_DOWN; // default to down
 
-	if (_manual_control_sp.gear_switch == manual_control_setpoint_s::SWITCH_POS_ON && _gear_state_initialized) {
+	if (_manual_control_setpoint.gear_switch == manual_control_setpoint_s::SWITCH_POS_ON && _gear_state_initialized) {
 		landing_gear = landing_gear_s::GEAR_UP;
 
-	} else if (_manual_control_sp.gear_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
+	} else if (_manual_control_setpoint.gear_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
 		// Switching the gear off does put it into a safe defined state
 		_gear_state_initialized = true;
 	}
@@ -173,7 +173,7 @@ MulticopterRateControl::Run()
 
 		_vehicle_status_sub.update(&_vehicle_status);
 
-		const bool manual_control_updated = _manual_control_sp_sub.update(&_manual_control_sp);
+		const bool manual_control_updated = _manual_control_setpoint_sub.update(&_manual_control_setpoint);
 
 		// generate the rate setpoint from sticks?
 		bool manual_rate_sp = false;
@@ -199,8 +199,8 @@ MulticopterRateControl::Run()
 			//  if true then use published rate setpoint, otherwise generate from manual_control_setpoint (like acro)
 			if (_v_control_mode.flag_control_rattitude_enabled) {
 				manual_rate_sp =
-					(fabsf(_manual_control_sp.y) > _param_mc_ratt_th.get()) ||
-					(fabsf(_manual_control_sp.x) > _param_mc_ratt_th.get());
+					(fabsf(_manual_control_setpoint.y) > _param_mc_ratt_th.get()) ||
+					(fabsf(_manual_control_setpoint.x) > _param_mc_ratt_th.get());
 			}
 
 		} else {
@@ -212,12 +212,12 @@ MulticopterRateControl::Run()
 
 				// manual rates control - ACRO mode
 				const Vector3f man_rate_sp{
-					math::superexpo(_manual_control_sp.y, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
-					math::superexpo(-_manual_control_sp.x, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
-					math::superexpo(_manual_control_sp.r, _param_mc_acro_expo_y.get(), _param_mc_acro_supexpoy.get())};
+					math::superexpo(_manual_control_setpoint.y, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
+					math::superexpo(-_manual_control_setpoint.x, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()),
+					math::superexpo(_manual_control_setpoint.r, _param_mc_acro_expo_y.get(), _param_mc_acro_supexpoy.get())};
 
 				_rates_sp = man_rate_sp.emult(_acro_rate_max);
-				_thrust_sp = _manual_control_sp.z;
+				_thrust_sp = _manual_control_setpoint.z;
 
 				// publish rate setpoint
 				vehicle_rates_setpoint_s v_rates_sp{};

src/modules/mc_rate_control/MulticopterRateControl.hpp

@@ -95,7 +95,7 @@ private:
 
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
 	uORB::Subscription _landing_gear_sub{ORB_ID(landing_gear)};
-	uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)};
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _motor_limits_sub{ORB_ID(multirotor_motor_limits)};
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)};
@@ -112,7 +112,7 @@ private:
 	uORB::Publication<vehicle_rates_setpoint_s>	_v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};			/**< rate setpoint publication */
 
 	landing_gear_s 			_landing_gear{};
-	manual_control_setpoint_s	_manual_control_sp{};
+	manual_control_setpoint_s	_manual_control_setpoint{};
 	vehicle_control_mode_s		_v_control_mode{};
 	vehicle_status_s		_vehicle_status{};
 

src/modules/rc_update/rc_update.cpp

@@ -438,25 +438,25 @@ RCUpdate::Run()
 		if (!signal_lost && rc_input.timestamp_last_signal > 0) {
 
 			/* initialize manual setpoint */
-			manual_control_setpoint_s manual{};
+			manual_control_setpoint_s manual_control_setpoint{};
 			/* set mode slot to unassigned */
-			manual.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE;
+			manual_control_setpoint.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE;
 			/* set the timestamp to the last signal time */
-			manual.timestamp = rc_input.timestamp_last_signal;
-			manual.data_source = manual_control_setpoint_s::SOURCE_RC;
+			manual_control_setpoint.timestamp = rc_input.timestamp_last_signal;
+			manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_RC;
 
 			/* limit controls */
-			manual.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
-			manual.x = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
-			manual.r = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
-			manual.z = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
-			manual.flaps = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
-			manual.aux1 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
-			manual.aux2 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
-			manual.aux3 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
-			manual.aux4 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
-			manual.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
-			manual.aux6 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6, -1.0, 1.0);
+			manual_control_setpoint.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
+			manual_control_setpoint.x = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
+			manual_control_setpoint.r = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
+			manual_control_setpoint.z = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
+			manual_control_setpoint.flaps = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
+			manual_control_setpoint.aux1 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
+			manual_control_setpoint.aux2 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
+			manual_control_setpoint.aux3 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
+			manual_control_setpoint.aux4 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
+			manual_control_setpoint.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
+			manual_control_setpoint.aux6 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6, -1.0, 1.0);
 
 			if (_param_rc_map_fltmode.get() > 0) {
 				/* number of valid slots */
@@ -476,60 +476,61 @@ RCUpdate::Run()
 				 * slots. And finally we add half a slot width to ensure that integer rounding
 				 * will take us to the correct final index.
 				 */
-				manual.mode_slot = (((((_rc.channels[_param_rc_map_fltmode.get() - 1] - slot_min) * num_slots) + slot_width_half) /
-						     (slot_max - slot_min)) + (1.0f / num_slots)) + 1;
+				manual_control_setpoint.mode_slot = (((((_rc.channels[_param_rc_map_fltmode.get() - 1] - slot_min) * num_slots) +
+								       slot_width_half)
+								      / (slot_max - slot_min)) + (1.0f / num_slots)) + 1;
 
-				if (manual.mode_slot > num_slots) {
-					manual.mode_slot = num_slots;
+				if (manual_control_setpoint.mode_slot > num_slots) {
+					manual_control_setpoint.mode_slot = num_slots;
 				}
 			}
 
 			/* mode switches */
-			manual.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE,
-					     _param_rc_auto_th.get(), _param_rc_auto_th.get() < 0.f,
-					     _param_rc_assist_th.get(), _param_rc_assist_th.get() < 0.f);
-
-			manual.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE,
-						  _param_rc_ratt_th.get(), _param_rc_ratt_th.get() < 0.f);
-			manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL,
-					       _param_rc_posctl_th.get(), _param_rc_posctl_th.get() < 0.f);
-			manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN,
-					       _param_rc_return_th.get(), _param_rc_return_th.get() < 0.f);
-			manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER,
-					       _param_rc_loiter_th.get(), _param_rc_loiter_th.get() < 0.f);
-			manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO,
-					     _param_rc_acro_th.get(), _param_rc_acro_th.get() < 0.f);
-			manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD,
-						 _param_rc_offb_th.get(), _param_rc_offb_th.get() < 0.f);
-			manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
-					     _param_rc_killswitch_th.get(), _param_rc_killswitch_th.get() < 0.f);
-			manual.arm_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH,
-					    _param_rc_armswitch_th.get(), _param_rc_armswitch_th.get() < 0.f);
-			manual.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION,
-						   _param_rc_trans_th.get(), _param_rc_trans_th.get() < 0.f);
-			manual.gear_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_GEAR,
-					     _param_rc_gear_th.get(), _param_rc_gear_th.get() < 0.f);
-			manual.stab_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_STAB,
-					     _param_rc_stab_th.get(), _param_rc_stab_th.get() < 0.f);
-			manual.man_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MAN,
-					    _param_rc_man_th.get(), _param_rc_man_th.get() < 0.f);
+			manual_control_setpoint.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE,
+							      _param_rc_auto_th.get(), _param_rc_auto_th.get() < 0.f,
+							      _param_rc_assist_th.get(), _param_rc_assist_th.get() < 0.f);
+
+			manual_control_setpoint.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE,
+					_param_rc_ratt_th.get(), _param_rc_ratt_th.get() < 0.f);
+			manual_control_setpoint.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL,
+								_param_rc_posctl_th.get(), _param_rc_posctl_th.get() < 0.f);
+			manual_control_setpoint.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN,
+								_param_rc_return_th.get(), _param_rc_return_th.get() < 0.f);
+			manual_control_setpoint.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER,
+								_param_rc_loiter_th.get(), _param_rc_loiter_th.get() < 0.f);
+			manual_control_setpoint.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO,
+							      _param_rc_acro_th.get(), _param_rc_acro_th.get() < 0.f);
+			manual_control_setpoint.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD,
+					_param_rc_offb_th.get(), _param_rc_offb_th.get() < 0.f);
+			manual_control_setpoint.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
+							      _param_rc_killswitch_th.get(), _param_rc_killswitch_th.get() < 0.f);
+			manual_control_setpoint.arm_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH,
+							     _param_rc_armswitch_th.get(), _param_rc_armswitch_th.get() < 0.f);
+			manual_control_setpoint.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION,
+					_param_rc_trans_th.get(), _param_rc_trans_th.get() < 0.f);
+			manual_control_setpoint.gear_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_GEAR,
+							      _param_rc_gear_th.get(), _param_rc_gear_th.get() < 0.f);
+			manual_control_setpoint.stab_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_STAB,
+							      _param_rc_stab_th.get(), _param_rc_stab_th.get() < 0.f);
+			manual_control_setpoint.man_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MAN,
+							     _param_rc_man_th.get(), _param_rc_man_th.get() < 0.f);
 
 			/* publish manual_control_setpoint topic */
-			_manual_control_pub.publish(manual);
+			_manual_control_setpoint_pub.publish(manual_control_setpoint);
 
-			/* copy from mapped manual control to control group 3 */
+			/* copy from mapped manual_control_setpoint control to control group 3 */
 			actuator_controls_s actuator_group_3{};
 
 			actuator_group_3.timestamp = rc_input.timestamp_last_signal;
 
-			actuator_group_3.control[0] = manual.y;
-			actuator_group_3.control[1] = manual.x;
-			actuator_group_3.control[2] = manual.r;
-			actuator_group_3.control[3] = manual.z;
-			actuator_group_3.control[4] = manual.flaps;
-			actuator_group_3.control[5] = manual.aux1;
-			actuator_group_3.control[6] = manual.aux2;
-			actuator_group_3.control[7] = manual.aux3;
+			actuator_group_3.control[0] = manual_control_setpoint.y;
+			actuator_group_3.control[1] = manual_control_setpoint.x;
+			actuator_group_3.control[2] = manual_control_setpoint.r;
+			actuator_group_3.control[3] = manual_control_setpoint.z;
+			actuator_group_3.control[4] = manual_control_setpoint.flaps;
+			actuator_group_3.control[5] = manual_control_setpoint.aux1;
+			actuator_group_3.control[6] = manual_control_setpoint.aux2;
+			actuator_group_3.control[7] = manual_control_setpoint.aux3;
 
 			/* publish actuator_controls_3 topic */
 			_actuator_group_3_pub.publish(actuator_group_3);

src/modules/rc_update/rc_update.h

@@ -157,7 +157,7 @@ private:
 	uORB::Publication<rc_channels_s>	_rc_pub{ORB_ID(rc_channels)};				/**< raw r/c control topic */
 	uORB::Publication<actuator_controls_s>	_actuator_group_3_pub{ORB_ID(actuator_controls_3)};	/**< manual control as actuator topic */
 
-	uORB::PublicationMulti<manual_control_setpoint_s>	_manual_control_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_HIGH};	/**< manual control signal topic */
+	uORB::PublicationMulti<manual_control_setpoint_s>	_manual_control_setpoint_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_HIGH};	/**< manual control signal topic */
 
 	rc_channels_s _rc {};			/**< r/c channel data */
 

src/modules/rover_pos_control/RoverPositionControl.cpp

@@ -108,10 +108,10 @@ void
 RoverPositionControl::manual_control_setpoint_poll()
 {
 	bool manual_updated;
-	orb_check(_manual_control_sub, &manual_updated);
+	orb_check(_manual_control_setpoint_sub, &manual_updated);
 
 	if (manual_updated) {
-		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
+		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_setpoint_sub, &_manual_control_setpoint);
 	}
 }
 
@@ -352,7 +352,7 @@ RoverPositionControl::run()
 	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-	_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	_manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
 	_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 
@@ -374,7 +374,7 @@ RoverPositionControl::run()
 	/* Setup of loop */
 	fds[0].fd = _global_pos_sub;
 	fds[0].events = POLLIN;
-	fds[1].fd = _manual_control_sub;
+	fds[1].fd = _manual_control_setpoint_sub;
 	fds[1].events = POLLIN;
 	fds[2].fd = _sensor_combined_sub;
 	fds[2].events = POLLIN;
@@ -494,15 +494,15 @@ RoverPositionControl::run()
 
 			// This should be copied even if not in manual mode. Otherwise, the poll(...) call will keep
 			// returning immediately and this loop will eat up resources.
-			orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
+			orb_copy(ORB_ID(manual_control_setpoint), _manual_control_setpoint_sub, &_manual_control_setpoint);
 
 			if (manual_mode) {
 				/* manual/direct control */
 				//PX4_INFO("Manual mode!");
-				_act_controls.control[actuator_controls_s::INDEX_ROLL] = _manual.y;
-				_act_controls.control[actuator_controls_s::INDEX_PITCH] = -_manual.x;
-				_act_controls.control[actuator_controls_s::INDEX_YAW] = _manual.r; //TODO: Readd yaw scale param
-				_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
+				_act_controls.control[actuator_controls_s::INDEX_ROLL] = _manual_control_setpoint.y;
+				_act_controls.control[actuator_controls_s::INDEX_PITCH] = -_manual_control_setpoint.x;
+				_act_controls.control[actuator_controls_s::INDEX_YAW] = _manual_control_setpoint.r; //TODO: Readd yaw scale param
+				_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = _manual_control_setpoint.z;
 			}
 		}
 
@@ -528,7 +528,7 @@ RoverPositionControl::run()
 	orb_unsubscribe(_control_mode_sub);
 	orb_unsubscribe(_global_pos_sub);
 	orb_unsubscribe(_local_pos_sub);
-	orb_unsubscribe(_manual_control_sub);
+	orb_unsubscribe(_manual_control_setpoint_sub);
 	orb_unsubscribe(_pos_sp_triplet_sub);
 	orb_unsubscribe(_vehicle_attitude_sub);
 	orb_unsubscribe(_sensor_combined_sub);

src/modules/rover_pos_control/RoverPositionControl.hpp

@@ -106,7 +106,7 @@ private:
 	int		_control_mode_sub{-1};		/**< control mode subscription */
 	int		_global_pos_sub{-1};
 	int		_local_pos_sub{-1};
-	int		_manual_control_sub{-1};		/**< notification of manual control updates */
+	int		_manual_control_setpoint_sub{-1};		/**< notification of manual control updates */
 	int		_pos_sp_triplet_sub{-1};
 	int		_att_sp_sub{-1};
 	int		_vehicle_attitude_sub{-1};
@@ -114,7 +114,7 @@ private:
 
 	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
 
-	manual_control_setpoint_s		_manual{};			    /**< r/c channel data */
+	manual_control_setpoint_s		_manual_control_setpoint{};			    /**< r/c channel data */
 	position_setpoint_triplet_s		_pos_sp_triplet{};		/**< triplet of mission items */
 	vehicle_attitude_setpoint_s		_att_sp{};			/**< attitude setpoint > */
 	vehicle_control_mode_s			_control_mode{};		/**< control mode */

src/modules/uuv_att_control/uuv_att_control.cpp

@@ -95,10 +95,10 @@ void UUVAttitudeControl::vehicle_control_mode_poll()
 void UUVAttitudeControl::manual_control_setpoint_poll()
 {
 	bool updated = false;
-	orb_check(_manual_control_sub, &updated);
+	orb_check(_manual_control_setpoint_sub, &updated);
 
 	if (updated) {
-		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
+		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_setpoint_sub, &_manual_control_setpoint);
 	}
 }
 
@@ -250,7 +250,7 @@ void UUVAttitudeControl::run()
 	_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
 	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 
-	_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	_manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 
 	_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
 
@@ -266,7 +266,7 @@ void UUVAttitudeControl::run()
 	/* Setup of loop */
 	fds[0].fd = _vehicle_attitude_sub;
 	fds[0].events = POLLIN;
-	fds[1].fd = _manual_control_sub;
+	fds[1].fd = _manual_control_setpoint_sub;
 	fds[1].events = POLLIN;
 	fds[2].fd = _sensor_combined_sub;
 	fds[2].events = POLLIN;
@@ -337,11 +337,12 @@ void UUVAttitudeControl::run()
 		if (fds[1].revents & POLLIN) {
 			// This should be copied even if not in manual mode. Otherwise, the poll(...) call will keep
 			// returning immediately and this loop will eat up resources.
-			orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sub, &_manual);
+			orb_copy(ORB_ID(manual_control_setpoint), _manual_control_setpoint_sub, &_manual_control_setpoint);
 
 			if (_vcontrol_mode.flag_control_manual_enabled && !_vcontrol_mode.flag_control_rates_enabled) {
 				/* manual/direct control */
-				constrain_actuator_commands(_manual.y, -_manual.x, _manual.r, _manual.z);
+				constrain_actuator_commands(_manual_control_setpoint.y, -_manual_control_setpoint.x,
+							    _manual_control_setpoint.r, _manual_control_setpoint.z);
 			}
 
 		}
@@ -363,7 +364,7 @@ void UUVAttitudeControl::run()
 	}
 
 	orb_unsubscribe(_vcontrol_mode_sub);
-	orb_unsubscribe(_manual_control_sub);
+	orb_unsubscribe(_manual_control_setpoint_sub);
 	orb_unsubscribe(_vehicle_attitude_sub);
 	orb_unsubscribe(_local_pos_sub);
 	orb_unsubscribe(_sensor_combined_sub);

src/modules/uuv_att_control/uuv_att_control.hpp

@@ -126,12 +126,12 @@ private:
 	int	_vehicle_attitude_sub{-1};	/**< control state subscription */
 	int	_angular_velocity_sub{-1};	/**< vehicle angular velocity subscription */
 	int	_local_pos_sub{-1};		/**< local position subscription */
-	int	_manual_control_sub{-1};	/**< notification of manual control updates */
+	int	_manual_control_setpoint_sub{-1};	/**< notification of manual control updates */
 	int	_vcontrol_mode_sub{-1};		/**< vehicle status subscription */
 	int	_sensor_combined_sub{-1};	/**< sensor combined subscription */
 
 	actuator_controls_s		_actuators {};		/**< actuator control inputs */
-	manual_control_setpoint_s	_manual {};		/**< r/c channel data */
+	manual_control_setpoint_s	_manual_control_setpoint {};		/**< r/c channel data */
 	vehicle_attitude_s		_vehicle_attitude {};	/**< control state */
 	vehicle_angular_velocity_s	_angular_velocity{};	/**< angular velocity */
 	vehicle_attitude_setpoint_s	_vehicle_attitude_sp {};/**< vehicle attitude setpoint */

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -197,9 +197,9 @@ VtolAttitudeControl::is_fixed_wing_requested()
 {
 	bool to_fw = false;
 
-	if (_manual_control_sp.transition_switch != manual_control_setpoint_s::SWITCH_POS_NONE &&
+	if (_manual_control_setpoint.transition_switch != manual_control_setpoint_s::SWITCH_POS_NONE &&
 	    _v_control_mode.flag_control_manual_enabled) {
-		to_fw = (_manual_control_sp.transition_switch == manual_control_setpoint_s::SWITCH_POS_ON);
+		to_fw = (_manual_control_setpoint.transition_switch == manual_control_setpoint_s::SWITCH_POS_ON);
 
 	} else {
 		// listen to transition commands if not in manual or mode switch is not mapped
@@ -387,7 +387,7 @@ VtolAttitudeControl::Run()
 		}
 
 		_v_control_mode_sub.update(&_v_control_mode);
-		_manual_control_sp_sub.update(&_manual_control_sp);
+		_manual_control_setpoint_sub.update(&_manual_control_setpoint);
 		_v_att_sub.update(&_v_att);
 		_local_pos_sub.update(&_local_pos);
 		_local_pos_sp_sub.update(&_local_pos_sp);

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -138,7 +138,7 @@ private:
 	uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription _local_pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};			// setpoint subscription
 	uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};			// sensor subscription
-	uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)};	//manual control setpoint subscription
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};	//manual control setpoint subscription
 	uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};			// local position setpoint subscription
@@ -165,7 +165,7 @@ private:
 	actuator_controls_s			_actuators_out_1{};	//actuator controls going to the fw mixer (used for elevons)
 
 	airspeed_validated_s 				_airspeed_validated{};			// airspeed
-	manual_control_setpoint_s		_manual_control_sp{}; //manual control setpoint
+	manual_control_setpoint_s		_manual_control_setpoint{}; //manual control setpoint
 	position_setpoint_triplet_s		_pos_sp_triplet{};
 	tecs_status_s				_tecs_status{};
 	vehicle_attitude_s			_v_att{};				//vehicle attitude