Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Sub: Remove gain control from joystick file.

This commit is contained in:
Rustom Jehangir 2016-07-04 16:49:59 -04:00 committed by Andrew Tridgell
parent f19c20b29e
commit 0a6fc0cc43
1 changed files with 9 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
ArduSub/joystick.cpp
View File

@ -21,10 +21,6 @@ namespace {
int16_t video_switch = 1100;
int16_t x_last, y_last, z_last;
uint16_t buttons_prev;
float gain = 0.5;
float maxGain = 1.0;
float minGain = 0.25;
int8_t numGainSettings = 4;
}
void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) {
@ -32,8 +28,8 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
uint32_t tnow_ms = millis();
float rpyScale = 0.4*gain; // Scale -1000-1000 to -400-400 with gain
float throttleScale = 0.8*gain; // Scale 0-1000 to 0-800 with gain
float rpyScale = 0.4; // Scale -1000-1000 to -400-400
float throttleScale = 0.8; // Scale 0-1000 to 0-800
int16_t rpyCenter = 1500;
int16_t throttleBase = 1500-500*throttleScale;
@ -188,20 +184,20 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift) {
static bool lowGain = false;
lowGain = !lowGain;
if ( lowGain ) {
gain = 0.5f;
motors.set_gain(0.0f);
} else {
gain = 1.0f;
motors.set_gain(1.0f);
}
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",gain*100);
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",motors.get_gain()*100);
}
break;
case JSButton::button_function_t::k_gain_inc:
gain = constrain_float(gain + (maxGain-minGain)/(numGainSettings-1), minGain, maxGain);
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",gain*100);
motors.increase_gain();
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",motors.get_gain()*100);
break;
case JSButton::button_function_t::k_gain_dec:
gain = constrain_float(gain - (maxGain-minGain)/(numGainSettings-1), minGain, maxGain);
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",gain*100);
motors.decrease_gain();
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",motors.get_gain()*100);
break;
case JSButton::button_function_t::k_trim_roll_inc:
rollTrim = constrain_float(rollTrim+10,-200,200);