feat(manual_control): Publish source of manual control setpoint via mavlink

msg/translation_node/translations/all_translations.h

@@ -15,6 +15,7 @@
 #include "translation_config_overrides_v1.h"
 #include "translation_event_v1.h"
 #include "translation_home_position_v1.h"
+#include "translation_manual_control_setpoint_v1.h"
 #include "translation_register_ext_component_reply_v1.h"
 #include "translation_register_ext_component_request_v1.h"
 #include "translation_register_ext_component_request_v2.h"

msg/translation_node/translations/translation_manual_control_setpoint_v1.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+ * Copyright (c) 2026 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate ManualControlSetpoint v0 <--> v1
+#include <px4_msgs_old/msg/manual_control_setpoint_v0.hpp>
+#include <px4_msgs/msg/manual_control_setpoint.hpp>
+
+class ManualControlSetpointV1Translation {
+public:
+	using MessageOlder = px4_msgs_old::msg::ManualControlSetpointV0;
+	static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::msg::ManualControlSetpoint;
+	static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+	static constexpr const char* kTopic = "fmu/out/manual_control_setpoint";
+
+	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+		msg_newer.timestamp = msg_older.timestamp;
+		msg_newer.timestamp_sample = msg_older.timestamp_sample;
+		msg_newer.valid = msg_older.valid;
+		msg_newer.data_source = msg_older.data_source;
+		msg_newer.roll = msg_older.roll;
+		msg_newer.pitch = msg_older.pitch;
+		msg_newer.yaw = msg_older.yaw;
+		msg_newer.throttle = msg_older.throttle;
+		msg_newer.flaps = msg_older.flaps;
+		msg_newer.aux1 = msg_older.aux1;
+		msg_newer.aux2 = msg_older.aux2;
+		msg_newer.aux3 = msg_older.aux3;
+		msg_newer.aux4 = msg_older.aux4;
+		msg_newer.aux5 = msg_older.aux5;
+		msg_newer.aux6 = msg_older.aux6;
+		msg_newer.sticks_moving = msg_older.sticks_moving;
+		msg_newer.buttons = msg_older.buttons;
+		msg_newer.sender_system_id = 0; // Default value for v1
+		msg_newer.sender_component_id = 0; // Default value for v1
+	}
+
+	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+		msg_older.timestamp = msg_newer.timestamp;
+		msg_older.timestamp_sample = msg_newer.timestamp_sample;
+		msg_older.valid = msg_newer.valid;
+		msg_older.data_source = msg_newer.data_source;
+		msg_older.roll = msg_newer.roll;
+		msg_older.pitch = msg_newer.pitch;
+		msg_older.yaw = msg_newer.yaw;
+		msg_older.throttle = msg_newer.throttle;
+		msg_older.flaps = msg_newer.flaps;
+		msg_older.aux1 = msg_newer.aux1;
+		msg_older.aux2 = msg_newer.aux2;
+		msg_older.aux3 = msg_newer.aux3;
+		msg_older.aux4 = msg_newer.aux4;
+		msg_older.aux5 = msg_newer.aux5;
+		msg_older.aux6 = msg_newer.aux6;
+		msg_older.sticks_moving = msg_newer.sticks_moving;
+		msg_older.buttons = msg_newer.buttons;
+		// sender_system_id / sender_component_id dropped (not present in v0)
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(ManualControlSetpointV1Translation);

msg/versioned/ManualControlSetpoint.msg

@@ -1,4 +1,4 @@
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 
 uint64 timestamp                        # time since system start (microseconds)
 uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
@@ -41,6 +41,11 @@ bool sticks_moving # manual control override request in an auto or offboard mode
 
 uint16 buttons		# From uint16 buttons field of Mavlink manual_control message
 
+# System/component ID of the system/component sending manual control messages providing this input.
+# Only valid if data_source is SOURCE_MAVLINK_0 or higher.
+uint8 sender_system_id
+uint8 sender_component_id
+
 # TOPICS manual_control_setpoint manual_control_input
 # DEPRECATED: float32 x
 # DEPRECATED: float32 y

src/modules/mavlink/mavlink_main.cpp

@@ -1917,6 +1917,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("HYGROMETER_SENSOR", 1.0f);
 		configure_stream_local("MAG_CAL_REPORT", 1.0f);
 		configure_stream_local("MANUAL_CONTROL", 5.0f);
+#if defined(MAVLINK_MSG_ID_MANUAL_CONTROL_STATUS)
+		configure_stream_local("MANUAL_CONTROL_STATUS", 1.0f);
+#endif // MAVLINK_MSG_ID_MANUAL_CONTROL_STATUS
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
 		configure_stream_local("OPEN_DRONE_ID_LOCATION", 1.f);
 		configure_stream_local("OPEN_DRONE_ID_SYSTEM", 1.f);

src/modules/mavlink/mavlink_messages.cpp

@@ -97,6 +97,9 @@
 #include "streams/LOCAL_POSITION_NED.hpp"
 #include "streams/MAG_CAL_REPORT.hpp"
 #include "streams/MANUAL_CONTROL.hpp"
+#if defined(MAVLINK_MSG_ID_MANUAL_CONTROL_STATUS)
+#include "streams/MANUAL_CONTROL_STATUS.hpp"
+#endif // MAVLINK_MSG_ID_MANUAL_CONTROL_STATUS
 #include "streams/MOUNT_ORIENTATION.hpp"
 #include "streams/NAV_CONTROLLER_OUTPUT.hpp"
 #include "streams/OBSTACLE_DISTANCE.hpp"
@@ -395,6 +398,9 @@ static const StreamListItem streams_list[] = {
 #if defined(MANUAL_CONTROL_HPP)
 	create_stream_list_item<MavlinkStreamManualControl>(),
 #endif // MANUAL_CONTROL_HPP
+#if defined(MANUAL_CONTROL_STATUS_HPP)
+	create_stream_list_item<MavlinkStreamManualControlStatus>(),
+#endif // MANUAL_CONTROL_STATUS_HPP
 #if defined(OPTICAL_FLOW_RAD_HPP)
 	create_stream_list_item<MavlinkStreamOpticalFlowRad>(),
 #endif // OPTICAL_FLOW_RAD_HPP

src/modules/mavlink/mavlink_receiver.cpp

@@ -2351,6 +2351,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	    && math::isInRange((int)mavlink_manual_control.aux6, -1000, 1000)) { manual_control_setpoint.aux6 = mavlink_manual_control.aux6 / 1000.0f; }
 
 	manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink.get_instance_id();
+	manual_control_setpoint.sender_system_id = msg->sysid;
+	manual_control_setpoint.sender_component_id = msg->compid;
 	manual_control_setpoint.timestamp = manual_control_setpoint.timestamp_sample = hrt_absolute_time();
 	manual_control_setpoint.valid = true;
 	_manual_control_input_pub.publish(manual_control_setpoint);

src/modules/mavlink/streams/MANUAL_CONTROL_STATUS.hpp

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef MANUAL_CONTROL_STATUS_HPP
+#define MANUAL_CONTROL_STATUS_HPP
+
+#include <uORB/topics/manual_control_setpoint.h>
+
+class MavlinkStreamManualControlStatus : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamManualControlStatus(mavlink); }
+
+	static constexpr const char *get_name_static() { return "MANUAL_CONTROL_STATUS"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_MANUAL_CONTROL_STATUS; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _manual_control_setpoint_sub.advertised() ?
+		       (MAVLINK_MSG_ID_MANUAL_CONTROL_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+	}
+
+private:
+	explicit MavlinkStreamManualControlStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
+
+	bool send() override
+	{
+		manual_control_setpoint_s manual_control_setpoint;
+
+		if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
+			mavlink_manual_control_status_t msg{};
+
+			msg.source = manual_control_setpoint.data_source;
+			msg.sender_system_id = manual_control_setpoint.sender_system_id;
+			msg.sender_component_id = manual_control_setpoint.sender_component_id;
+			msg.valid = manual_control_setpoint.valid ? 1 : 0;
+
+			mavlink_msg_manual_control_status_send_struct(_mavlink->get_channel(), &msg);
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // MANUAL_CONTROL_STATUS_HPP