Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

sub: fixup joystick changes according to review

Browse Source 
https://github.com/ArduPilot/ardupilot/pull/11861
This commit is contained in:
Willian Galvani 2019-09-26 13:56:04 -03:00 committed by Jacob Walser
parent ee65aa2993
commit 9c6a63b55b
1 changed files with 9 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduSub/joystick.cpp
View File

@ -94,16 +94,20 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
uint32_t tnow = AP_HAL::millis(); uint32_t tnow = AP_HAL::millis();
int16_t zTot = z + zTrim; int16_t zTot;
int16_t yTot = y + yTrim; int16_t yTot;
int16_t xTot = x + xTrim; int16_t xTot;
if (!controls_reset_since_input_hold) { if (!controls_reset_since_input_hold) {
zTot = zTrim + 500; // 500 is neutral for throttle zTot = zTrim + 500; // 500 is neutral for throttle
yTot = yTrim; yTot = yTrim;
xTot = xTrim; xTot = xTrim;
// if all 3 axes return to neutral, than we're ready to accept input again // if all 3 axes return to neutral, than we're ready to accept input again
controls_reset_since_input_hold = (z == 500 && y == 0 && x == 0); controls_reset_since_input_hold = (abs(z - 500) < 50) && (abs(y) < 50) && (abs(x) < 50);
} else {
zTot = z + zTrim;
yTot = y + yTrim;
xTot = x + xTrim;
} }
RC_Channels::set_override(0, constrain_int16(pitchTrim + rpyCenter,1100,1900), tnow); // pitch RC_Channels::set_override(0, constrain_int16(pitchTrim + rpyCenter,1100,1900), tnow); // pitch
@ -348,7 +352,7 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
yTrim = abs(y_last) > 50 ? y_last : 0; yTrim = abs(y_last) > 50 ? y_last : 0;
bool input_hold_engaged_last = input_hold_engaged; bool input_hold_engaged_last = input_hold_engaged;
input_hold_engaged = zTrim || xTrim || yTrim; input_hold_engaged = zTrim || xTrim || yTrim;
if (input_hold_engaged) { if (input_hold_engaged) {
gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Set"); gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Set");
} else if (input_hold_engaged_last) { } else if (input_hold_engaged_last) {
gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Disabled"); gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Disabled");