From 4704faf60d79d853652b4b2a92847c7671043e37 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Thu, 17 Nov 2016 15:00:47 -0500
Subject: [PATCH] Sub: Revert to 29f8ce95, prior to deadzone PR

---
 ArduSub/Attitude.cpp        |  5 -----
 ArduSub/Sub.h               |  1 -
 ArduSub/control_manual.cpp  | 12 ++++++------
 ArduSub/control_surface.cpp |  4 ++--
 ArduSub/defines.h           |  2 --
 ArduSub/joystick.cpp        |  5 +----
 6 files changed, 9 insertions(+), 20 deletions(-)

diff --git a/ArduSub/Attitude.cpp b/ArduSub/Attitude.cpp
index aaa1fee40d..7c49b35a60 100644
--- a/ArduSub/Attitude.cpp
+++ b/ArduSub/Attitude.cpp
@@ -128,11 +128,6 @@ void Sub::set_throttle_takeoff()
     pos_control.init_takeoff();
 }
 
-int16_t Sub::get_throttle_control_dz()
-{
-	return (channel_throttle->pwm_to_angle() + 1000)/2;
-}
-
 // get_pilot_desired_throttle - transform pilot's throttle input to make cruise throttle mid stick
 // used only for manual throttle modes
 // returns throttle output 0 to 1000
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 36520febd9..ec4e090b90 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -1056,7 +1056,6 @@ private:
     void auto_terrain_recover_run(void);
 
     void translate_wpnav_rp(float &lateral_out, float &forward_out);
-    int16_t get_throttle_control_dz();
 
     bool surface_init(bool ignore_flags);
     void surface_run();
diff --git a/ArduSub/control_manual.cpp b/ArduSub/control_manual.cpp
index e1f2e0c573..afb3791167 100644
--- a/ArduSub/control_manual.cpp
+++ b/ArduSub/control_manual.cpp
@@ -27,10 +27,10 @@ void Sub::manual_run()
 
     motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
-    motors.set_roll(channel_roll->norm_input_dz()*0.67f);
-    motors.set_pitch(channel_pitch->norm_input_dz()*0.67f);
-    motors.set_yaw(channel_yaw->norm_input_dz()*0.67f);
-    motors.set_throttle(channel_throttle->norm_input_dz());
-    motors.set_forward(channel_forward->norm_input_dz()*0.67f);
-    motors.set_lateral(channel_lateral->norm_input_dz()*0.67f);
+    motors.set_roll(channel_roll->norm_input()*0.67f);
+    motors.set_pitch(channel_pitch->norm_input()*0.67f);
+    motors.set_yaw(channel_yaw->norm_input()*0.67f);
+    motors.set_throttle(channel_throttle->norm_input());
+    motors.set_forward(channel_forward->norm_input()*0.67f);
+    motors.set_lateral(channel_lateral->norm_input()*0.67f);
 }
diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp
index 4b19718436..98a6a3d446 100644
--- a/ArduSub/control_surface.cpp
+++ b/ArduSub/control_surface.cpp
@@ -59,6 +59,6 @@ void Sub::surface_run()
     pos_control.update_z_controller();
 
     // pilot has control for repositioning
-    motors.set_forward(channel_forward->norm_input_dz());
-    motors.set_lateral(channel_lateral->norm_input_dz());
+    motors.set_forward(channel_forward->norm_input());
+    motors.set_lateral(channel_lateral->norm_input());
 }
diff --git a/ArduSub/defines.h b/ArduSub/defines.h
index 293a961474..f8c371ba50 100644
--- a/ArduSub/defines.h
+++ b/ArduSub/defines.h
@@ -507,5 +507,3 @@ enum ThrowModeState {
 #define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
 #define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
 #define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)
-
-#define JOYSTICK_INITIAL_GAIN 0.5
diff --git a/ArduSub/joystick.cpp b/ArduSub/joystick.cpp
index 2db69f6f52..f1f24be431 100644
--- a/ArduSub/joystick.cpp
+++ b/ArduSub/joystick.cpp
@@ -21,7 +21,7 @@ namespace {
 	int16_t video_switch = 1100;
 	int16_t x_last, y_last, z_last;
 	uint16_t buttons_prev;
-	float gain = JOYSTICK_INITIAL_GAIN;
+	float gain = 0.5;
 	float maxGain = 1.0;
 	float minGain = 0.25;
 	int8_t numGainSettings = 4;
@@ -203,21 +203,18 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held) {
 				} else {
 					gain = 1.0f;
 				}
-				RC_Channel::scale_dead_zones(gain);
 				gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain: %2.0f%%",gain*100);
 			}
 			break;
 		case JSButton::button_function_t::k_gain_inc:
 			if ( !held ) {
 				gain = constrain_float(gain + (maxGain-minGain)/(numGainSettings-1), minGain, maxGain);
-				RC_Channel::scale_dead_zones(gain);
 				gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",gain*100);
 			}
 			break;
 		case JSButton::button_function_t::k_gain_dec:
 			if ( !held ) {
 				gain = constrain_float(gain - (maxGain-minGain)/(numGainSettings-1), minGain, maxGain);
-				RC_Channel::scale_dead_zones(gain);
 				gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",gain*100);
 			}
 			break;