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Sub: Remove the usage of RC_Channels::set_overrides()

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Michael du Breuil 2018-04-25 15:40:54 -07:00 committed by Francisco Ferreira
parent 167553e8a5
commit 3927fb3107
1 changed files with 15 additions and 22 deletions
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37
ArduSub/joystick.cpp
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@ -53,8 +53,6 @@ void Sub::init_joystick()
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[11];
float rpyScale = 0.4*gain; // Scale -1000-1000 to -400-400 with gain
float throttleScale = 0.8*gain*g.throttle_gain; // Scale 0-1000 to 0-800 times gain
int16_t rpyCenter = 1500;
@ -93,35 +91,33 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
rollTrim = y * rpyScale;
}
channels[0] = constrain_int16(pitchTrim + rpyCenter,1100,1900); // pitch
channels[1] = constrain_int16(rollTrim + rpyCenter,1100,1900); // roll
RC_Channels::set_override(0, constrain_int16(pitchTrim + rpyCenter,1100,1900)); // pitch
RC_Channels::set_override(1, constrain_int16(rollTrim + rpyCenter,1100,1900)); // roll
channels[2] = constrain_int16((z+zTrim)*throttleScale+throttleBase,1100,1900); // throttle
channels[3] = constrain_int16(r*rpyScale+rpyCenter,1100,1900); // yaw
RC_Channels::set_override(2, constrain_int16((z+zTrim)*throttleScale+throttleBase,1100,1900)); // throttle
RC_Channels::set_override(3, constrain_int16(r*rpyScale+rpyCenter,1100,1900)); // yaw
// maneuver mode:
if (roll_pitch_flag == 0) {
// adjust forward and lateral with joystick input instead of roll and pitch
channels[4] = constrain_int16((x+xTrim)*rpyScale+rpyCenter,1100,1900); // forward for ROV
channels[5] = constrain_int16((y+yTrim)*rpyScale+rpyCenter,1100,1900); // lateral for ROV
RC_Channels::set_override(4, constrain_int16((x+xTrim)*rpyScale+rpyCenter,1100,1900)); // forward for ROV
RC_Channels::set_override(5, constrain_int16((y+yTrim)*rpyScale+rpyCenter,1100,1900)); // lateral for ROV
} else {
// neutralize forward and lateral input while we are adjusting roll and pitch
channels[4] = constrain_int16(xTrim*rpyScale+rpyCenter,1100,1900); // forward for ROV
channels[5] = constrain_int16(yTrim*rpyScale+rpyCenter,1100,1900); // lateral for ROV
RC_Channels::set_override(4, constrain_int16(xTrim*rpyScale+rpyCenter,1100,1900)); // forward for ROV
RC_Channels::set_override(5, constrain_int16(yTrim*rpyScale+rpyCenter,1100,1900)); // lateral for ROV
}
channels[6] = cam_pan; // camera pan
channels[7] = cam_tilt; // camera tilt
channels[8] = lights1; // lights 1
channels[9] = lights2; // lights 2
channels[10] = video_switch; // video switch
RC_Channels::set_override(6, cam_pan); // camera pan
RC_Channels::set_override(7, cam_tilt); // camera tilt
RC_Channels::set_override(8, lights1); // lights 1
RC_Channels::set_override(9, lights2); // lights 2
RC_Channels::set_override(10, video_switch); // video switch
// Store old x, y, z values for use in input hold logic
x_last = x;
y_last = y;
z_last = z;
RC_Channels::set_overrides(channels, 11);
}
void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
@ -682,18 +678,15 @@ void Sub::default_js_buttons()
void Sub::set_neutral_controls()
{
int16_t channels[11];
for (uint8_t i = 0; i < 6; i++) {
channels[i] = 1500;
RC_Channels::set_override(i, 1500);
}
for (uint8_t i = 6; i < 11; i++) {
channels[i] = 0xffff;
RC_Channels::set_override(i, 0xffff);
}
RC_Channels::set_overrides(channels, 10);
// Clear pitch/roll trim settings
pitchTrim = 0;
rollTrim = 0;