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Sub: Implement video switch feature on joystick button

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This commit is contained in:
Rustom Jehangir 2016-05-12 18:42:23 -07:00 committed by Andrew Tridgell
parent 1447ba4c20
commit ae0e5dcb4b
1 changed files with 28 additions and 6 deletions
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34
ArduSub/joystick.cpp
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@ -16,6 +16,7 @@ namespace {
int16_t throttleTrim = 0;
int16_t forwardTrim = 0;
int16_t lateralTrim = 0;
int16_t video_switch = 1100;
float gain = 0.5;
float maxGain = 1.0;
float minGain = 0.25;
@ -61,8 +62,9 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
channels[5] = x*rpyScale+forwardTrim+rpyCenter; // forward for ROV
channels[6] = y*rpyScale+lateralTrim+rpyCenter; // lateral for ROV
channels[7] = camTilt; // camera tilt
channels[8] = lights1;
channels[9] = lights2;
channels[8] = lights1; // lights 1
channels[9] = lights2; // lights 2
channels[10] = video_switch; // video switch
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
failsafe.rc_override_active = hal.rcin->set_overrides(channels, 10);
@ -112,7 +114,18 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift) {
case JSButton::button_function_t::k_camera_trigger:
break;
case JSButton::button_function_t::k_camera_source_toggle:
break;
{
static bool video_toggle = false;
video_toggle = !video_toggle;
if ( video_toggle ) {
video_switch = 1900;
gcs_send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 2");
} else {
video_switch = 1100;
gcs_send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 1");
}
}
break;
case JSButton::button_function_t::k_lights1_cycle:
{
static bool increasing = true;
@ -184,9 +197,18 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift) {
pitchTrim = constrain_float(pitchTrim-10,-200,200);
break;
case JSButton::button_function_t::k_input_hold_toggle:
throttleTrim = channel_throttle->get_control_in() - 1500;
forwardTrim = channel_forward->get_control_in() - 1500;
lateralTrim = channel_lateral->get_control_in() - 1500;
{
static bool input_toggle_on = false;
input_toggle_on = !input_toggle_on;
if ( input_toggle_on ) {
throttleTrim = channel_throttle->get_control_in() - 1500;
forwardTrim = channel_forward->get_control_in() - 1500;
lateralTrim = channel_lateral->get_control_in() - 1500;
gcs_send_text(MAV_SEVERITY_INFO,"Input Hold ON");
} else {
gcs_send_text(MAV_SEVERITY_INFO,"Input Hold OFF");
}
}
break;
}
}