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Sub: Increase threshold for input hold engaged flag

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Also clear input hold offsets when they are below this threshold
This commit is contained in:
Jacob Walser 2017-10-20 16:02:50 -04:00
parent 14c593babf
commit d25dd1d944
1 changed files with 4 additions and 4 deletions
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8
ArduSub/joystick.cpp
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@ -320,11 +320,11 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
break;
case JSButton::button_function_t::k_input_hold_set:
if (!held) {
zTrim = z_last-500;
xTrim = x_last;
yTrim = y_last;
zTrim = abs(z_last-500) > 50 ? z_last-500 : 0;
xTrim = abs(x_last) > 50 ? x_last : 0;
yTrim = abs(y_last) > 50 ? y_last : 0;
input_hold_engaged = zTrim || xTrim || yTrim;
gcs_send_text(MAV_SEVERITY_INFO,"#Input Hold Set");
input_hold_engaged = abs(zTrim) > 20 || abs(xTrim) > 20 || abs(yTrim) > 20;
}
break;
case JSButton::button_function_t::k_relay_1_on: