mirror of https://github.com/ArduPilot/ardupilot
Sub: Implement joystick button actions
This commit is contained in:
Rustom Jehangir
Andrew Tridgell
parent
44904760cc
commit
ef53455e2d
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@ -885,6 +885,7 @@ private:
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void enable_motor_output();
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void read_radio();
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void transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons);
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void handle_jsbutton_press(uint8_t button,uint8_t shift=0);
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void set_throttle_and_failsafe(uint16_t throttle_pwm);
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void set_throttle_zero_flag(int16_t throttle_control);
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void init_barometer(bool full_calibration);
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@ -2,9 +2,18 @@
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#include "Sub.h"
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// Function that will read the radio data, limit servos and trigger a failsafe
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// Functions that will handle joystick/gamepad input
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// ----------------------------------------------------------------------------
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namespace {
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int16_t mode;
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int16_t camTilt = 1500;
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int16_t lights1 = 1100;
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int16_t lights2 = 1100;
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int16_t rollTrim = 0;
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int16_t pitchTrim = 0;
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}
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void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) {
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int16_t channels[10];
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@ -14,58 +23,34 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
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float throttleScale = 0.8;
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int16_t rpyCenter = 1500;
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int16_t throttleBase = 1500-500*throttleScale;
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static int16_t rollTrim = 0;
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static int16_t mode;
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static int16_t camTilt = 1500;
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static int16_t lights = 1100;
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uint8_t shift = 0;
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static uint32_t buttonDebounce;
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// Debouncing timer
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if ( tnow_ms - buttonDebounce > 50 ) {
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buttonDebounce = tnow_ms;
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if ( (buttons & (1 << 0)) && g.jbtn_0.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 1)) && g.jbtn_1.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 2)) && g.jbtn_2.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 3)) && g.jbtn_3.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 4)) && g.jbtn_4.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 5)) && g.jbtn_5.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 6)) && g.jbtn_6.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 7)) && g.jbtn_7.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 8)) && g.jbtn_8.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 9)) && g.jbtn_9.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 10)) && g.jbtn_10.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 11)) && g.jbtn_11.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 12)) && g.jbtn_12.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 13)) && g.jbtn_13.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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if ( (buttons & (1 << 14)) && g.jbtn_14.function() == JSButton::button_function_t::k_shift ) { shift = 1; }
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for ( uint8_t i = 0 ; i < 16 ; i++ ) {
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if ( buttons & (1 << i) ) {
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// handle_jsbutton_press(i);
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handle_jsbutton_press(i,shift);
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}
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}
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// Button logic to arm/disarm motors (Start and back buttons)
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if ( buttons & (1 << 4) ) {
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init_arm_motors(true);
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} else if ( buttons & (1 << 5) ) {
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init_disarm_motors();
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}
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// Button logic to change camera tilt (D-pad up and down + left joystick click to center)
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if ( buttons & (1 << 0) ) {
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camTilt = constrain_float(camTilt-30,800,2200);
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} else if ( buttons & (1 << 1) ) {
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camTilt = constrain_float(camTilt+30,800,2200);
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} else if ( buttons & (1 << 6) ) {
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camTilt = 1500; // Reset camera tilt
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}
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// Button logic for roll trim (D-pad left and right)
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if ( (buttons & ( 1 << 2 )) && rollTrim > -200 ) {
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rollTrim -= 10;
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} else if ( (buttons & ( 1 << 3 )) && rollTrim < 200 ) {
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rollTrim += 10;
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}
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// Button logic for mode changes (B for stabilize, Y for altitude hold)
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if ( buttons & (1 << 14) ) {
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mode = 2000;
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} else if ( buttons & (1 << 12)) {
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mode = 1000;
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}
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// Button logic for lights with dimming (right bumper brighter, left bumper dimmer)
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if ( buttons & (1 << 8) ) {
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lights = constrain_float(lights-100,1100,1900);
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} else if ( buttons & (1 << 9) ) {
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lights = constrain_float(lights+100,1100,1900);
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}
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}
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channels[0] = 1500; // pitch
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@ -76,11 +61,131 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
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channels[5] = x*rpyScale+rpyCenter; // forward for ROV
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channels[6] = y*rpyScale+rpyCenter; // strafe for ROV
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channels[7] = camTilt; // camera tilt
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channels[8] = lights;
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channels[8] = lights1;
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channels[9] = 0;
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// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
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failsafe.rc_override_active = hal.rcin->set_overrides(channels, 10);
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}
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//void Sub::handle_jsbutton_press(uint8_t button);
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void Sub::handle_jsbutton_press(uint8_t button, uint8_t shift) {
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uint8_t func;
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switch ( button ) {
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case 0: if ( shift ) func = g.jbtn_0.function(); else func = g.jbtn_0.function(true); break;
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case 1: if ( shift ) func = g.jbtn_1.function(); else func = g.jbtn_1.function(true); break;
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case 2: if ( shift ) func = g.jbtn_2.function(); else func = g.jbtn_2.function(true); break;
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case 3: if ( shift ) func = g.jbtn_3.function(); else func = g.jbtn_3.function(true); break;
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case 4: if ( shift ) func = g.jbtn_4.function(); else func = g.jbtn_4.function(true); break;
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case 5: if ( shift ) func = g.jbtn_5.function(); else func = g.jbtn_5.function(true); break;
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case 6: if ( shift ) func = g.jbtn_6.function(); else func = g.jbtn_6.function(true); break;
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case 7: if ( shift ) func = g.jbtn_7.function(); else func = g.jbtn_7.function(true); break;
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case 8: if ( shift ) func = g.jbtn_8.function(); else func = g.jbtn_8.function(true); break;
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case 9: if ( shift ) func = g.jbtn_9.function(); else func = g.jbtn_9.function(true); break;
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case 10: if ( shift ) func = g.jbtn_10.function(); else func = g.jbtn_10.function(true); break;
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case 11: if ( shift ) func = g.jbtn_11.function(); else func = g.jbtn_11.function(true); break;
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case 12: if ( shift ) func = g.jbtn_12.function(); else func = g.jbtn_12.function(true); break;
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case 13: if ( shift ) func = g.jbtn_13.function(); else func = g.jbtn_13.function(true); break;
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case 14: if ( shift ) func = g.jbtn_14.function(); else func = g.jbtn_14.function(true); break;
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case 15: if ( shift ) func = g.jbtn_15.function(); else func = g.jbtn_15.function(true); break;
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}
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switch ( func ) {
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case JSButton::button_function_t::k_arm_toggle:
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break;
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case JSButton::button_function_t::k_arm:
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init_arm_motors(true);
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break;
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case JSButton::button_function_t::k_disarm:
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init_disarm_motors();
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break;
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case JSButton::button_function_t::k_mode_toggle:
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init_disarm_motors();
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break;
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case JSButton::button_function_t::k_mode_1:
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mode = 1100;
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break;
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case JSButton::button_function_t::k_mode_2:
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mode = 1300;
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break;
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case JSButton::button_function_t::k_mode_3:
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mode = 1420;
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break;
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case JSButton::button_function_t::k_mode_4:
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mode = 1550;
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break;
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case JSButton::button_function_t::k_mode_5:
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mode = 1690;
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break;
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case JSButton::button_function_t::k_mode_6:
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mode = 1900;
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break;
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case JSButton::button_function_t::k_mount_center:
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camTilt = 1500;
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break;
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case JSButton::button_function_t::k_mount_tilt_up:
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camTilt = constrain_float(camTilt-30,800,2200);
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break;
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case JSButton::button_function_t::k_mount_tilt_down:
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camTilt = constrain_float(camTilt+30,800,2200);
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break;
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case JSButton::button_function_t::k_camera_trigger:
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break;
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case JSButton::button_function_t::k_lights1_cycle:
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{
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static bool increasing = true;
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if ( increasing ) {
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lights1 = constrain_float(lights1+100,1100,1900);
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} else {
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lights1 = constrain_float(lights1-100,1100,1900);
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}
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if ( lights1 >= 1900 || lights1 <= 1100 ) {
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increasing = !increasing;
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}
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}
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break;
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case JSButton::button_function_t::k_lights1_brighter:
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lights1 = constrain_float(lights1+100,1100,1900);
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break;
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case JSButton::button_function_t::k_lights1_dimmer:
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lights1 = constrain_float(lights1-100,1100,1900);
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break;
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case JSButton::button_function_t::k_lights2_cycle:
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{
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static bool increasing = true;
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if ( increasing ) {
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lights2 = constrain_float(lights2+100,1100,1900);
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} else {
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lights2 = constrain_float(lights2-100,1100,1900);
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}
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if ( lights2 >= 1900 || lights2 <= 1100 ) {
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increasing = !increasing;
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}
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}
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break;
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case JSButton::button_function_t::k_lights2_brighter:
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lights2 = constrain_float(lights2+100,1100,1900);
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break;
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case JSButton::button_function_t::k_lights2_dimmer:
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lights2 = constrain_float(lights2-100,1100,1900);
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break;
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case JSButton::button_function_t::k_gain_toggle:
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break;
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case JSButton::button_function_t::k_gain_inc:
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break;
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case JSButton::button_function_t::k_gain_dec:
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break;
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case JSButton::button_function_t::k_trim_roll_inc:
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rollTrim = constrain_float(rollTrim+10,-200,200);
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break;
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case JSButton::button_function_t::k_trim_roll_dec:
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rollTrim = constrain_float(rollTrim-10,-200,200);
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break;
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case JSButton::button_function_t::k_trim_pitch_inc:
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pitchTrim = constrain_float(pitchTrim+10,-200,200);
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break;
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case JSButton::button_function_t::k_trim_pitch_dec:
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pitchTrim = constrain_float(pitchTrim-10,-200,200);
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break;
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}
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}
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