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Sub: Implement JSButton function to toggle between forward/lateral input

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and roll/pitch input
This commit is contained in:
Jacob Walser 2017-03-28 16:05:08 -04:00
parent 1ad10d0903
commit e3d6d4bcbe
1 changed files with 35 additions and 11 deletions
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24
ArduSub/joystick.cpp
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@ -25,6 +25,8 @@ bool toggle_mode = true;
const uint8_t SERVO_CHAN_1 = 9; // Pixhawk Aux1
const uint8_t SERVO_CHAN_2 = 10; // Pixhawk Aux2
const uint8_t SERVO_CHAN_3 = 11; // Pixhawk Aux3
uint8_t roll_pitch_flag = false; // Flag to adjust roll/pitch instead of forward/lateral
}
void Sub::init_joystick()
@ -84,13 +86,29 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
}
// Set channels to override
if (!roll_pitch_flag) {
channels[0] = 1500 + pitchTrim; // pitch
channels[1] = 1500 + rollTrim; // roll
} else {
// adjust roll and pitch with joystick input instead of forward and lateral
channels[0] = constrain_int16((x+pitchTrim)*rpyScale+rpyCenter,1100,1900);
channels[1] = constrain_int16((y+rollTrim)*rpyScale+rpyCenter,1100,1900);
}
channels[2] = constrain_int16((z+zTrim)*throttleScale+throttleBase,1100,1900); // throttle
channels[3] = constrain_int16(r*rpyScale+rpyCenter,1100,1900); // yaw
channels[4] = mode_switch_pwm; // for testing only
if (!roll_pitch_flag) {
// adjust forward and lateral with joystick input instead of roll and pitch
channels[5] = constrain_int16((x+xTrim)*rpyScale+rpyCenter,1100,1900); // forward for ROV
channels[6] = constrain_int16((y+yTrim)*rpyScale+rpyCenter,1100,1900); // lateral for ROV
} else {
// neutralize forward and lateral input while we are adjusting roll and pitch
channels[5] = constrain_int16(xTrim*rpyScale+rpyCenter,1100,1900); // forward for ROV
channels[6] = constrain_int16(yTrim*rpyScale+rpyCenter,1100,1900); // lateral for ROV
}
channels[7] = cam_tilt; // camera tilt
channels[8] = lights1; // lights 1
channels[9] = lights2; // lights 2
@ -458,6 +476,12 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
}
break;
case JSButton::button_function_t::k_roll_pitch_toggle:
if (!held) {
roll_pitch_flag = !roll_pitch_flag;
}
break;
case JSButton::button_function_t::k_custom_1:
// Not implemented
break;