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joystick: addressed issue9801. Upon engaging input hold, the controller will not read new directional inputs until input hold is disabled or the conrols are returned to their neutral position.

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Justin 2019-07-22 16:44:44 -04:00 committed by Jacob Walser
parent adcf0d398d
commit ee65aa2993
1 changed files with 18 additions and 4 deletions
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22
ArduSub/joystick.cpp
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@ -25,6 +25,7 @@ const uint8_t SERVO_CHAN_2 = 10; // Pixhawk Aux2
const uint8_t SERVO_CHAN_3 = 11; // Pixhawk Aux3 const uint8_t SERVO_CHAN_3 = 11; // Pixhawk Aux3
uint8_t roll_pitch_flag = false; // Flag to adjust roll/pitch instead of forward/lateral uint8_t roll_pitch_flag = false; // Flag to adjust roll/pitch instead of forward/lateral
bool controls_reset_since_input_hold = true;
} }
void Sub::init_joystick() void Sub::init_joystick()
@ -93,17 +94,29 @@ 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 yTot = y + yTrim;
int16_t xTot = x + xTrim;
if (!controls_reset_since_input_hold) {
zTot = zTrim + 500; // 500 is neutral for throttle
yTot = yTrim;
xTot = xTrim;
// 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);
}
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
RC_Channels::set_override(1, constrain_int16(rollTrim + rpyCenter,1100,1900), tnow); // roll RC_Channels::set_override(1, constrain_int16(rollTrim + rpyCenter,1100,1900), tnow); // roll
RC_Channels::set_override(2, constrain_int16((z+zTrim)*throttleScale+throttleBase,1100,1900), tnow); // throttle RC_Channels::set_override(2, constrain_int16((zTot)*throttleScale+throttleBase,1100,1900), tnow); // throttle
RC_Channels::set_override(3, constrain_int16(r*rpyScale+rpyCenter,1100,1900), tnow); // yaw RC_Channels::set_override(3, constrain_int16(r*rpyScale+rpyCenter,1100,1900), tnow); // yaw
// maneuver mode: // maneuver mode:
if (roll_pitch_flag == 0) { if (roll_pitch_flag == 0) {
// adjust forward and lateral with joystick input instead of roll and pitch // adjust forward and lateral with joystick input instead of roll and pitch
RC_Channels::set_override(4, constrain_int16((x+xTrim)*rpyScale+rpyCenter,1100,1900), tnow); // forward for ROV RC_Channels::set_override(4, constrain_int16((xTot)*rpyScale+rpyCenter,1100,1900), tnow); // forward for ROV
RC_Channels::set_override(5, constrain_int16((y+yTrim)*rpyScale+rpyCenter,1100,1900), tnow); // lateral for ROV RC_Channels::set_override(5, constrain_int16((yTot)*rpyScale+rpyCenter,1100,1900), tnow); // lateral for ROV
} else { } else {
// neutralize forward and lateral input while we are adjusting roll and pitch // neutralize forward and lateral input while we are adjusting roll and pitch
RC_Channels::set_override(4, constrain_int16(xTrim*rpyScale+rpyCenter,1100,1900), tnow); // forward for ROV RC_Channels::set_override(4, constrain_int16(xTrim*rpyScale+rpyCenter,1100,1900), tnow); // forward for ROV
@ -335,11 +348,12 @@ 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");
} }
controls_reset_since_input_hold = !input_hold_engaged;
} }
break; break;
case JSButton::button_function_t::k_relay_1_on: case JSButton::button_function_t::k_relay_1_on: