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Sub: Add cam tilt and lights step size parameters

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This commit is contained in:
Jacob Walser 2016-11-23 19:59:09 -05:00 committed by Andrew Tridgell
parent 5cc1d3293d
commit 0faf2a1f8e
3 changed files with 33 additions and 11 deletions
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16
ArduSub/Parameters.cpp
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@ -654,6 +654,22 @@ const AP_Param::Info Sub::var_info[] = {
// @Default: 4
GSCALAR(numGainSettings, "JS_GAIN_STEPS", 4),
// @Param: JS_CAM_TILT_STEP
// @DisplayName: Camera tilt step size
// @Description: Size of PWM increment on camera tilt servo
// @User: Standard
// @Range: 30 400
// @Default: 50
GSCALAR(cam_tilt_step, "JS_CAM_TILT_STEP", 50),
// @Param: JS_LIGHTS_STEP
// @DisplayName: Lights step size
// @Description: Size of PWM increment on lights servo
// @User: Standard
// @Range: 30 400
// @Default: 100
GSCALAR(lights_step, "JS_LIGHTS_STEP", 100),
// @Group: BTN0_
// @Path: ../libraries/AP_JSButton/AP_JSButton.cpp
GGROUP(jbtn_0, "BTN0_", JSButton),

8
ArduSub/Parameters.h
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@ -405,7 +405,10 @@ public:
k_param_failsafe_terrain, // terrain failsafe behavior
k_param_xtrack_angle_limit // angle limit for xtrack correction in degrees
k_param_xtrack_angle_limit, // angle limit for xtrack correction in degrees
k_param_cam_tilt_step,
k_param_lights_step
};
AP_Int16 format_version;
@ -530,6 +533,9 @@ public:
AP_Float minGain;
AP_Int8 numGainSettings;
AP_Int16 cam_tilt_step;
AP_Int16 lights_step;
// Joystick button parameters
JSButton jbtn_0;
JSButton jbtn_1;

20
ArduSub/joystick.cpp
View File

@ -132,10 +132,10 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held) {
cam_tilt_goal = 1500;
break;
case JSButton::button_function_t::k_mount_tilt_up:
cam_tilt_goal = constrain_float(cam_tilt_goal-30,800,2200);
cam_tilt_goal = constrain_float(cam_tilt_goal-g.cam_tilt_step,800,2200);
break;
case JSButton::button_function_t::k_mount_tilt_down:
cam_tilt_goal = constrain_float(cam_tilt_goal+30,800,2200);
cam_tilt_goal = constrain_float(cam_tilt_goal+g.cam_tilt_step,800,2200);
break;
case JSButton::button_function_t::k_camera_trigger:
break;
@ -162,9 +162,9 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held) {
if ( !held ) {
static bool increasing = true;
if ( increasing ) {
lights1 = constrain_float(lights1+100,1100,1900);
lights1 = constrain_float(lights1+g.lights_step,1100,1900);
} else {
lights1 = constrain_float(lights1-100,1100,1900);
lights1 = constrain_float(lights1-g.lights_step,1100,1900);
}
if ( lights1 >= 1900 || lights1 <= 1100 ) {
increasing = !increasing;
@ -173,21 +173,21 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held) {
break;
case JSButton::button_function_t::k_lights1_brighter:
if ( !held ) {
lights1 = constrain_float(lights1+100,1100,1900);
lights1 = constrain_float(lights1+g.lights_step,1100,1900);
}
break;
case JSButton::button_function_t::k_lights1_dimmer:
if ( !held ) {
lights1 = constrain_float(lights1-100,1100,1900);
lights1 = constrain_float(lights1-g.lights_step,1100,1900);
}
break;
case JSButton::button_function_t::k_lights2_cycle:
if ( !held ) {
static bool increasing = true;
if ( increasing ) {
lights2 = constrain_float(lights2+100,1100,1900);
lights2 = constrain_float(lights2+g.lights_step,1100,1900);
} else {
lights2 = constrain_float(lights2-100,1100,1900);
lights2 = constrain_float(lights2-g.lights_step,1100,1900);
}
if ( lights2 >= 1900 || lights2 <= 1100 ) {
increasing = !increasing;
@ -196,12 +196,12 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held) {
break;
case JSButton::button_function_t::k_lights2_brighter:
if ( !held ) {
lights2 = constrain_float(lights2+100,1100,1900);
lights2 = constrain_float(lights2+g.lights_step,1100,1900);
}
break;
case JSButton::button_function_t::k_lights2_dimmer:
if ( !held ) {
lights2 = constrain_float(lights2-100,1100,1900);
lights2 = constrain_float(lights2-g.lights_step,1100,1900);
}
break;
case JSButton::button_function_t::k_gain_toggle: