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Copter: enable F412 toymode button setup

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different button mapping for new controller
This commit is contained in:
Andrew Tridgell 2018-02-02 18:53:10 +11:00
parent 8d43c6c3dc
commit 9261e1cbde
2 changed files with 59 additions and 16 deletions
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66
ArduCopter/toy_mode.cpp
View File

@ -21,8 +21,8 @@ const AP_Param::GroupInfo ToyMode::var_info[] = {
// @Param: _ENABLE
// @DisplayName: tmode enable
// @Description: tmode (or "toy" mode) gives a simplified user interface designed for mass market drones.
// @Values: 0:Disabled,1:Enabled
// @Description: tmode (or "toy" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards
// @Values: 0:Disabled,1:EnableVersion1,2:EnableVersion2
// @User: Advanced
AP_GROUPINFO_FLAGS("_ENABLE", 1, ToyMode, enable, 0, AP_PARAM_FLAG_ENABLE),
@ -219,10 +219,16 @@ void ToyMode::update()
copter.ahrs.set_indoor_mode(copter.control_mode == ALT_HOLD || copter.control_mode == FLOWHOLD);
#endif
bool left_button = false;
bool right_button = false;
bool left_action_button = false;
bool right_action_button = false;
bool power_button = false;
bool left_change = false;
uint16_t ch5_in = hal.rcin->read(CH_5);
uint16_t ch6_in = hal.rcin->read(CH_6);
uint16_t ch7_in = hal.rcin->read(CH_7);
bool left_change = ((ch5_in > 1700 && last_ch5 <= 1700) || (ch5_in <= 1700 && last_ch5 > 1700));
if (copter.failsafe.radio || ch5_in < 900) {
// failsafe handling is outside the scope of toy mode, it does
@ -232,18 +238,38 @@ void ToyMode::update()
red_blink_index = green_blink_index;
return;
}
last_ch5 = ch5_in;
// get buttons from channels
bool left_button = (ch5_in > 2050 || (ch5_in > 1050 && ch5_in < 1150));
bool right_button = (ch6_in > 1500);
uint8_t ch7_bits = (ch7_in>1000)?uint8_t((ch7_in-1000)/100):0;
bool left_action_button = (ch7_bits&1) != 0;
bool right_action_button = (ch7_bits&2) != 0;
bool power_button = (ch7_bits&4) != 0;
uint32_t now = AP_HAL::millis();
if (is_v2450_buttons()) {
// V2450 button mapping from cypress radio. It maps the
// buttons onto channels 5, 6 and 7 in a complex way, with the
// left button latching
left_change = ((ch5_in > 1700 && last_ch5 <= 1700) || (ch5_in <= 1700 && last_ch5 > 1700));
last_ch5 = ch5_in;
// get buttons from channels
left_button = (ch5_in > 2050 || (ch5_in > 1050 && ch5_in < 1150));
right_button = (ch6_in > 1500);
uint8_t ch7_bits = (ch7_in>1000)?uint8_t((ch7_in-1000)/100):0;
left_action_button = (ch7_bits&1) != 0;
right_action_button = (ch7_bits&2) != 0;
power_button = (ch7_bits&4) != 0;
} else if (is_f412_buttons()) {
// F412 button setup for cc2500 radio. This maps the 6 buttons
// onto channels 5 and 6, with no latching
uint8_t ch5_bits = (ch5_in>1000)?uint8_t((ch5_in-1000)/100):0;
uint8_t ch6_bits = (ch6_in>1000)?uint8_t((ch6_in-1000)/100):0;
left_button = (ch5_bits & 4) != 0;
right_button = (ch5_bits & 2) != 0;
right_action_button = (ch6_bits & 1) != 0;
left_action_button = (ch6_bits & 2) != 0;
power_button = (ch6_bits & 4) != 0;
left_change = (left_button != last_left_button);
last_left_button = left_button;
}
// decode action buttons into an action
uint8_t action_input = 0;
if (left_action_button) {
@ -306,9 +332,17 @@ void ToyMode::update()
ignore_left_change = false;
}
// check for left button latching change
if (action == ACTION_NONE && left_change) {
action = toy_action(actions[6].get());
if (is_v2450_buttons()) {
// check for left button latching change
if (action == ACTION_NONE && left_change) {
action = toy_action(actions[6].get());
}
} else if (is_f412_buttons()) {
if (action == ACTION_NONE && left_change && !left_button) {
// left release
action = toy_action(actions[6].get());
}
}
// check for right button

9
ArduCopter/toy_mode.h
View File

@ -42,6 +42,14 @@ private:
void thrust_limiting(float *thrust, uint8_t num_motors);
void arm_check_compass(void);
// work out type of button setup
bool is_v2450_buttons(void) const {
return enable == 1;
}
bool is_f412_buttons(void) const {
return enable == 2;
}
enum toy_action {
ACTION_NONE = 0,
@ -112,6 +120,7 @@ private:
uint32_t throttle_low_counter;
uint32_t throttle_high_counter;
uint16_t last_ch5;
bool last_left_button;
uint8_t last_mode_choice;
int32_t left_press_counter;
int32_t right_press_counter;