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Sub: Added mode switch to joystick buttons.

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Rustom Jehangir 2016-01-20 19:01:17 -08:00 committed by Andrew Tridgell
parent 0bb4ab4dc9
commit 3f4a6101ad
1 changed files with 11 additions and 5 deletions
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16
ArduSub/radio.cpp
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@ -148,20 +148,26 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
float throttleScale = 0.8;
int16_t rpyCenter = 1500;
int16_t throttleBase = 1500-500*throttleScale;
int16_t mode;
uint16_t mode = buttons;
static int16_t camTilt = 1500;
if ( mode & (1 << 4) ) {
if ( buttons & (1 << 4) ) {
init_arm_motors(true);
} else if ( mode & (1 << 5) ) {
} else if ( buttons & (1 << 5) ) {
init_disarm_motors();
} else if ( mode & (1 << 0) ) {
} else if ( buttons & (1 << 0) ) {
camTilt = constrain_float(camTilt+20,800,2200);
} else if ( mode & (1 << 1) ) {
} else if ( buttons & (1 << 1) ) {
camTilt = constrain_float(camTilt-20,800,2200);
}
if ( buttons & (1 << 14) ) {
mode = 2000;
} else if ( buttons & (1 << 12)) {
mode = 1000;
}
channels[0] = 1500; // pitch
channels[1] = 1500; // roll
channels[2] = z*throttleScale+throttleBase; // throttle