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Sub: Revert "Sub: Remove gain control from joystick file." 

This reverts commit 93cc3abab2.
This commit is contained in:
Rustom Jehangir 2016-07-22 23:26:22 -07:00 committed by Andrew Tridgell
parent e9c2ad9192
commit 69cd30fd8e
1 changed files with 13 additions and 9 deletions
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22
ArduSub/joystick.cpp
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@ -21,6 +21,10 @@ namespace {
int16_t video_switch = 1100;
int16_t x_last, y_last, z_last;
uint16_t buttons_prev;
float gain = 0.5;
float maxGain = 1.0;
float minGain = 0.25;
int8_t numGainSettings = 4;
}
void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) {
@ -28,8 +32,8 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
uint32_t tnow_ms = millis();
float rpyScale = 0.4; // Scale -1000-1000 to -400-400
float throttleScale = 0.8; // Scale 0-1000 to 0-800
float rpyScale = 0.4*gain; // Scale -1000-1000 to -400-400 with gain
float throttleScale = 0.8*gain; // Scale 0-1000 to 0-800 with gain
int16_t rpyCenter = 1500;
int16_t throttleBase = 1500-500*throttleScale;
@ -184,20 +188,20 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift) {
static bool lowGain = false;
lowGain = !lowGain;
if ( lowGain ) {
motors.set_gain(0.0f);
gain = 0.5f;
} else {
motors.set_gain(1.0f);
gain = 1.0f;
}
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",motors.get_gain()*100);
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",gain*100);
}
break;
case JSButton::button_function_t::k_gain_inc:
motors.increase_gain();
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",motors.get_gain()*100);
gain = constrain_float(gain + (maxGain-minGain)/(numGainSettings-1), minGain, maxGain);
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",gain*100);
break;
case JSButton::button_function_t::k_gain_dec:
motors.decrease_gain();
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",motors.get_gain()*100);
gain = constrain_float(gain - (maxGain-minGain)/(numGainSettings-1), minGain, maxGain);
gcs_send_text_fmt(MAV_SEVERITY_INFO,"Gain: %2.0f%%",gain*100);
break;
case JSButton::button_function_t::k_trim_roll_inc:
rollTrim = constrain_float(rollTrim+10,-200,200);