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Sub: Added roll trim using gamepad buttons.

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Rustom Jehangir 2016-01-30 08:42:55 -08:00 committed by Andrew Tridgell
parent 077b0283f3
commit 12464ab5b2
1 changed files with 11 additions and 2 deletions
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13
ArduSub/radio.cpp
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@ -148,6 +148,7 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
float throttleScale = 0.8; float throttleScale = 0.8;
int16_t rpyCenter = 1500; int16_t rpyCenter = 1500;
int16_t throttleBase = 1500-500*throttleScale; int16_t throttleBase = 1500-500*throttleScale;
int16_t rollTrim = 0;
static int16_t mode; static int16_t mode;
static int16_t camTilt = 1500; static int16_t camTilt = 1500;
@ -156,12 +157,20 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
init_arm_motors(true); init_arm_motors(true);
} else if ( buttons & (1 << 5) ) { } else if ( buttons & (1 << 5) ) {
init_disarm_motors(); init_disarm_motors();
} else if ( buttons & (1 << 0) ) { }
if ( buttons & (1 << 0) ) {
camTilt = constrain_float(camTilt+20,800,2200); camTilt = constrain_float(camTilt+20,800,2200);
} else if ( buttons & (1 << 1) ) { } else if ( buttons & (1 << 1) ) {
camTilt = constrain_float(camTilt-20,800,2200); camTilt = constrain_float(camTilt-20,800,2200);
} }
if ( (buttons & ( 1 << 14 )) && rollTrim > -200 ) {
rollTrim -= 10;
} else if ( (buttons & ( 1 << 15 )) && rollTrim < 200 ) {
rollTrim += 10;
}
if ( buttons & (1 << 14) ) { if ( buttons & (1 << 14) ) {
mode = 2000; mode = 2000;
} else if ( buttons & (1 << 12)) { } else if ( buttons & (1 << 12)) {
@ -169,7 +178,7 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
} }
channels[0] = 1500; // pitch channels[0] = 1500; // pitch
channels[1] = 1500; // roll channels[1] = 1500 + rollTrim; // roll
channels[2] = z*throttleScale+throttleBase; // throttle channels[2] = z*throttleScale+throttleBase; // throttle
channels[3] = r*rpyScale+rpyCenter; // yaw channels[3] = r*rpyScale+rpyCenter; // yaw
channels[4] = mode; // for testing only channels[4] = mode; // for testing only