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joystick: addressed issue9801. Upon engaging input hold, the controller will not read new directional inputs until input hold is disabled or the conrols are returned to their neutral position.

This commit is contained in:
Justin 2019-07-22 16:44:44 -04:00 committed by Andrew Tridgell
parent c660ad8a9a
commit 1f2afd9953
1 changed files with 18 additions and 4 deletions
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22
ArduSub/joystick.cpp
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@ -25,6 +25,7 @@ const uint8_t SERVO_CHAN_2 = 10; // Pixhawk Aux2
const uint8_t SERVO_CHAN_3 = 11; // Pixhawk Aux3
uint8_t roll_pitch_flag = false; // Flag to adjust roll/pitch instead of forward/lateral
bool controls_reset_since_input_hold = true;
}
void Sub::init_joystick()
@ -93,17 +94,29 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
uint32_t tnow = AP_HAL::millis();
int16_t zTot = z + zTrim;
int16_t yTot = y + yTrim;
int16_t xTot = x + xTrim;
if (!controls_reset_since_input_hold) {
zTot = zTrim + 500; // 500 is neutral for throttle
yTot = yTrim;
xTot = xTrim;
// if all 3 axes return to neutral, than we're ready to accept input again
controls_reset_since_input_hold = (z == 500 && y == 0 && x == 0);
}
RC_Channels::set_override(0, constrain_int16(pitchTrim + rpyCenter,1100,1900), tnow); // pitch
RC_Channels::set_override(1, constrain_int16(rollTrim + rpyCenter,1100,1900), tnow); // roll
RC_Channels::set_override(2, constrain_int16((z+zTrim)*throttleScale+throttleBase,1100,1900), tnow); // throttle
RC_Channels::set_override(2, constrain_int16((zTot)*throttleScale+throttleBase,1100,1900), tnow); // throttle
RC_Channels::set_override(3, constrain_int16(r*rpyScale+rpyCenter,1100,1900), tnow); // yaw
// maneuver mode:
if (roll_pitch_flag == 0) {
// adjust forward and lateral with joystick input instead of roll and pitch
RC_Channels::set_override(4, constrain_int16((x+xTrim)*rpyScale+rpyCenter,1100,1900), tnow); // forward for ROV
RC_Channels::set_override(5, constrain_int16((y+yTrim)*rpyScale+rpyCenter,1100,1900), tnow); // lateral for ROV
RC_Channels::set_override(4, constrain_int16((xTot)*rpyScale+rpyCenter,1100,1900), tnow); // forward for ROV
RC_Channels::set_override(5, constrain_int16((yTot)*rpyScale+rpyCenter,1100,1900), tnow); // lateral for ROV
} else {
// neutralize forward and lateral input while we are adjusting roll and pitch
RC_Channels::set_override(4, constrain_int16(xTrim*rpyScale+rpyCenter,1100,1900), tnow); // forward for ROV
@ -335,11 +348,12 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
yTrim = abs(y_last) > 50 ? y_last : 0;
bool input_hold_engaged_last = input_hold_engaged;
input_hold_engaged = zTrim || xTrim || yTrim;
if (input_hold_engaged) {
if (input_hold_engaged) {
gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Set");
} else if (input_hold_engaged_last) {
gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Disabled");
}
controls_reset_since_input_hold = !input_hold_engaged;
}
break;
case JSButton::button_function_t::k_relay_1_on: