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AP_OSD: use get_stick_gesture_pos() for OSD menus

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This commit is contained in:
Andy Piper 2025-01-13 18:29:48 +00:00 committed by Peter Barker
parent 7805477fb8
commit 2c3eec070f
2 changed files with 4 additions and 29 deletions
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1
libraries/AP_OSD/AP_OSD.h
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@ -503,7 +503,6 @@ private:
#if AP_RC_CHANNEL_ENABLED
Event map_rc_input_to_event() const;
RC_Channel::AuxSwitchPos get_channel_pos(const class RC_Channel &chan) const;
#endif
uint8_t _selected_param = 1;

32
libraries/AP_OSD/AP_OSD_ParamScreen.cpp
View File

@ -388,37 +388,13 @@ void AP_OSD_ParamScreen::modify_configured_parameter(uint8_t number, Event ev)
}
}
// return radio values as LOW, MIDDLE, HIGH
// this function uses different threshold values to RC_Chanel::get_aux_switch_pos()
// to avoid glitching on the stick travel
RC_Channel::AuxSwitchPos AP_OSD_ParamScreen::get_channel_pos(const RC_Channel &chanref) const
{
const auto *chan = &chanref;
const uint16_t in = chan->get_radio_in();
if (in <= 900 || in >= 2200) {
return RC_Channel::AuxSwitchPos::LOW;
}
// switch is reversed if 'reversed' option set on channel and switches reverse is allowed by RC_OPTIONS
bool switch_reversed = chan->get_reverse() && rc().option_is_enabled(RC_Channels::Option::ALLOW_SWITCH_REV);
if (in < RC_Channel::AUX_PWM_TRIGGER_LOW) {
return switch_reversed ? RC_Channel::AuxSwitchPos::HIGH : RC_Channel::AuxSwitchPos::LOW;
} else if (in > RC_Channel::AUX_PWM_TRIGGER_HIGH) {
return switch_reversed ? RC_Channel::AuxSwitchPos::LOW : RC_Channel::AuxSwitchPos::HIGH;
} else {
return RC_Channel::AuxSwitchPos::MIDDLE;
}
}
// map rc input to an event
AP_OSD_ParamScreen::Event AP_OSD_ParamScreen::map_rc_input_to_event() const
{
const RC_Channel::AuxSwitchPos throttle = get_channel_pos(rc().get_throttle_channel());
const RC_Channel::AuxSwitchPos yaw = get_channel_pos(rc().get_yaw_channel());
const RC_Channel::AuxSwitchPos roll = get_channel_pos(rc().get_roll_channel());
const RC_Channel::AuxSwitchPos pitch = get_channel_pos(rc().get_pitch_channel());
const RC_Channel::AuxSwitchPos throttle = rc().get_throttle_channel().get_stick_gesture_pos();
const RC_Channel::AuxSwitchPos yaw = rc().get_yaw_channel().get_stick_gesture_pos();
const RC_Channel::AuxSwitchPos roll = rc().get_roll_channel().get_stick_gesture_pos();
const RC_Channel::AuxSwitchPos pitch = rc().get_pitch_channel().get_stick_gesture_pos();
Event result = Event::NONE;