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Sub: Implement joystick button arm toggling

This commit is contained in:
Rustom Jehangir 2016-05-12 19:07:32 -07:00 committed by Andrew Tridgell
parent ae0e5dcb4b
commit 203b7fbaba
1 changed files with 6 additions and 1 deletions
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7
ArduSub/joystick.cpp
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@ -24,7 +24,7 @@ namespace {
}
void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) {
int16_t channels[10];
int16_t channels[11];
uint32_t tnow_ms = millis();
@ -74,6 +74,11 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift) {
// Act based on the function assigned to this button
switch ( get_button(button)->function(shift) ) {
case JSButton::button_function_t::k_arm_toggle:
if ( motors.armed() ) {
init_disarm_motors();
} else {
init_arm_motors(true);
}
break;
case JSButton::button_function_t::k_arm:
init_arm_motors(true);