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Sub: Remove gain control from joystick file.

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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
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22
ArduSub/joystick.cpp
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@ -21,10 +21,6 @@ namespace {
int16_t video_switch = 1100; int16_t video_switch = 1100;
int16_t x_last, y_last, z_last; int16_t x_last, y_last, z_last;
uint16_t buttons_prev; 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) { 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(); uint32_t tnow_ms = millis();
float rpyScale = 0.4*gain; // Scale -1000-1000 to -400-400 with gain float rpyScale = 0.4; // Scale -1000-1000 to -400-400
float throttleScale = 0.8*gain; // Scale 0-1000 to 0-800 with gain float throttleScale = 0.8; // Scale 0-1000 to 0-800
int16_t rpyCenter = 1500; int16_t rpyCenter = 1500;
int16_t throttleBase = 1500-500*throttleScale; int16_t throttleBase = 1500-500*throttleScale;
@ -188,20 +184,20 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift) {
static bool lowGain = false; static bool lowGain = false;
lowGain = !lowGain; lowGain = !lowGain;
if ( lowGain ) { if ( lowGain ) {
gain = 0.5f; motors.set_gain(0.0f);
} else { } 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; break;
case JSButton::button_function_t::k_gain_inc: case JSButton::button_function_t::k_gain_inc:
gain = constrain_float(gain + (maxGain-minGain)/(numGainSettings-1), minGain, maxGain); motors.increase_gain();
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; break;
case JSButton::button_function_t::k_gain_dec: case JSButton::button_function_t::k_gain_dec:
gain = constrain_float(gain - (maxGain-minGain)/(numGainSettings-1), minGain, maxGain); motors.decrease_gain();
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; break;
case JSButton::button_function_t::k_trim_roll_inc: case JSButton::button_function_t::k_trim_roll_inc:
rollTrim = constrain_float(rollTrim+10,-200,200); rollTrim = constrain_float(rollTrim+10,-200,200);