Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Sub: Improve joystick button debounce

This commit is contained in:
Rustom Jehangir 2016-05-13 09:34:17 -07:00 committed by Andrew Tridgell
parent b97b6b8f8a
commit cf8e5f1337
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduSub/joystick.cpp
View File

@ -18,6 +18,7 @@ namespace {
int16_t yTrim = 0;
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;
@ -38,19 +39,22 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
static uint32_t buttonDebounce;
// Debouncing timer
if ( tnow_ms - buttonDebounce > 250 ) {
if ( tnow_ms - buttonDebounce > 100 ) {
// Detect if any shift button is pressed
for ( uint8_t i = 0 ; i < 16 ; i++ ) {
if ( (buttons & (1 << i)) && get_button(i)->function() == JSButton::button_function_t::k_shift ) { shift = true; }
}
// Act if button is pressed
// Only act upon pressing button and ignore holding. This provides compatibility with Taranis as joystick.
for ( uint8_t i = 0 ; i < 16 ; i++ ) {
if ( (buttons & (1 << i)) && get_button(i)->function() != JSButton::button_function_t::k_shift ) {
if ( (buttons & (1 << i)) && !(buttons_prev & (1 << i)) ) {
handle_jsbutton_press(i,shift);
buttonDebounce = tnow_ms;
}
}
buttons_prev = buttons;
}
// Set channels to override