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Sub: Adjust roll/pitch joystick button logic

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dheideman 2017-09-29 15:07:44 -07:00 committed by Jacob Walser
parent 5bfd486b4e
commit 0351874c01
1 changed files with 10 additions and 9 deletions
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19
ArduSub/joystick.cpp
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@ -81,20 +81,21 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
buttons_prev = buttons;
// Set channels to override
if (!roll_pitch_flag) {
channels[0] = 1500 + pitchTrim; // pitch
channels[1] = 1500 + rollTrim; // roll
} else {
// adjust roll and pitch with joystick input instead of forward and lateral
channels[0] = constrain_int16((x+pitchTrim)*rpyScale+rpyCenter,1100,1900);
channels[1] = constrain_int16((y+rollTrim)*rpyScale+rpyCenter,1100,1900);
// attitude mode:
if (roll_pitch_flag == 1) {
// adjust roll/pitch trim with joystick input instead of forward/lateral
pitchTrim = -x * rpyScale;
rollTrim = y * rpyScale;
}
channels[0] = constrain_int16(pitchTrim + rpyCenter,1100,1900); // pitch
channels[1] = constrain_int16(rollTrim + rpyCenter,1100,1900); // roll
channels[2] = constrain_int16((z+zTrim)*throttleScale+throttleBase,1100,1900); // throttle
channels[3] = constrain_int16(r*rpyScale+rpyCenter,1100,1900); // yaw
if (!roll_pitch_flag) {
// maneuver mode:
if (roll_pitch_flag == 0) {
// adjust forward and lateral with joystick input instead of roll and pitch
channels[4] = constrain_int16((x+xTrim)*rpyScale+rpyCenter,1100,1900); // forward for ROV
channels[5] = constrain_int16((y+yTrim)*rpyScale+rpyCenter,1100,1900); // lateral for ROV