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ardupilot/ArduSub/joystick.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Sub.h"
// Functions that will handle joystick/gamepad input
// ----------------------------------------------------------------------------
// Anonymous namespace to hold variables used only in this file
namespace {
int16_t mode_switch_pwm = 1100;
float cam_tilt = 1500.0;
float cam_tilt_goal = 1500.0;
float cam_tilt_alpha = 0.97;
int16_t lights1 = 1100;
int16_t lights2 = 1100;
int16_t rollTrim = 0;
int16_t pitchTrim = 0;
int16_t zTrim = 0;
int16_t xTrim = 0;
int16_t yTrim = 0;
int16_t video_switch = 1100;
int16_t x_last, y_last, z_last;
uint16_t buttons_prev;
float gain;
bool toggle_mode = true;
}
void Sub::init_joystick() {
default_js_buttons();
set_mode((control_mode_t)flight_modes[0].get(), MODE_REASON_TX_COMMAND); // Initialize flight mode
if(g.numGainSettings < 1) g.numGainSettings.set_and_save(1);
if(g.numGainSettings == 1 || (g.gain_default < g.maxGain + 0.01 && g.gain_default > g.minGain - 0.01)) {
gain = constrain_float(g.gain_default, g.minGain, g.maxGain); // Use default gain parameter
} else {
// Use setting closest to average of minGain and maxGain
gain = g.minGain + (g.numGainSettings/2 - 1) * (g.maxGain - g.minGain) / (g.numGainSettings - 1);
}
gain = constrain_float(gain, 0.1, 1.0);
}
void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons) {
int16_t channels[11];
uint32_t tnow_ms = millis();
float rpyScale = 0.4*gain; // Scale -1000-1000 to -400-400 with gain
float throttleScale = 0.8*gain*g.throttle_gain; // Scale 0-1000 to 0-800 times gain
int16_t rpyCenter = 1500;
int16_t throttleBase = 1500-500*throttleScale;
bool shift = false;
static uint32_t buttonDebounce;
// Debouncing timer
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)) ) {
handle_jsbutton_press(i,shift,(buttons_prev & (1 << i)));
buttonDebounce = tnow_ms;
}
}
buttons_prev = buttons;
}
// Set channels to override
channels[0] = 1500 + pitchTrim; // pitch
channels[1] = 1500 + rollTrim; // roll
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
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
channels[7] = 0xffff; // camera tilt (sent in camera_tilt_smooth)
channels[8] = lights1; // lights 1
channels[9] = lights2; // lights 2
channels[10] = video_switch; // video switch
// Store old x, y, z values for use in input hold logic
x_last = x;
y_last = y;
z_last = z;
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
failsafe.rc_override_active = hal.rcin->set_overrides(channels, 10);
}
void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held) {
// For attempts to change control mode
control_mode_t next_mode = control_mode;
uint16_t next_mode_switch_pwm = mode_switch_pwm;
// Act based on the function assigned to this button
switch ( get_button(button)->function(shift) ) {
case JSButton::button_function_t::k_arm_toggle:
if ( motors.armed() ) {
init_disarm_motors();
} else {
init_arm_motors(true);
}
break;
case JSButton::button_function_t::k_arm:
init_arm_motors(true);
break;
case JSButton::button_function_t::k_disarm:
init_disarm_motors();
break;
case JSButton::button_function_t::k_mode_toggle:
if( !held ) {
next_mode = (control_mode_t)flight_modes[toggle_mode?1:0].get();
next_mode_switch_pwm = toggle_mode?1300:1100;
toggle_mode = !toggle_mode;
}
break;
case JSButton::button_function_t::k_mode_1:
next_mode = (control_mode_t)flight_modes[0].get();
next_mode_switch_pwm = 1100;
toggle_mode = true;
break;
case JSButton::button_function_t::k_mode_2:
next_mode = (control_mode_t)flight_modes[1].get();
next_mode_switch_pwm = 1300;
toggle_mode = false;
break;
case JSButton::button_function_t::k_mode_3:
next_mode = (control_mode_t)flight_modes[2].get();
next_mode_switch_pwm = 1420;
toggle_mode = false;
break;
case JSButton::button_function_t::k_mode_4:
next_mode = (control_mode_t)flight_modes[3].get();
next_mode_switch_pwm = 1550;
toggle_mode = false;
break;
case JSButton::button_function_t::k_mode_5:
next_mode = (control_mode_t)flight_modes[4].get();
next_mode_switch_pwm = 1690;
toggle_mode = false;
break;
case JSButton::button_function_t::k_mode_6:
next_mode = (control_mode_t)flight_modes[5].get();
next_mode_switch_pwm = 1900;
toggle_mode = false;
break;
case JSButton::button_function_t::k_mount_center:
cam_tilt_goal = g.cam_tilt_center;
break;
case JSButton::button_function_t::k_mount_tilt_up: {
uint8_t i;
// Find the first aux channel configured as mount tilt, if any
if(RC_Channel_aux::find_channel(RC_Channel_aux::k_mount_tilt, i)) {
// Get the channel output limits
RC_Channel *ch = RC_Channel::rc_channel(i);
uint16_t min = ch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN);
uint16_t max = ch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX);
cam_tilt_goal = constrain_int16(cam_tilt_goal-g.cam_tilt_step,min,max);
}
}
break;
case JSButton::button_function_t::k_mount_tilt_down: {
uint8_t i;
// Find the first aux channel configured as mount tilt, if any
if(RC_Channel_aux::find_channel(RC_Channel_aux::k_mount_tilt, i)) {
// Get the channel output limits
RC_Channel *ch = RC_Channel::rc_channel(i);
uint16_t min = ch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN);
uint16_t max = ch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX);
cam_tilt_goal = constrain_int16(cam_tilt_goal+g.cam_tilt_step,min,max);
}
}
break;
case JSButton::button_function_t::k_camera_trigger:
break;
case JSButton::button_function_t::k_camera_source_toggle:
if ( !held ) {
static bool video_toggle = false;
video_toggle = !video_toggle;
if ( video_toggle ) {
video_switch = 1900;
gcs_send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 2");
} else {
video_switch = 1100;
gcs_send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 1");
}
}
break;
case JSButton::button_function_t::k_mount_pan_right:
// Not implemented
break;
case JSButton::button_function_t::k_mount_pan_left:
// Not implemented
break;
case JSButton::button_function_t::k_lights1_cycle:
if ( !held ) {
static bool increasing = true;
if ( increasing ) {
lights1 = constrain_float(lights1+g.lights_step,1100,1900);
} else {
lights1 = constrain_float(lights1-g.lights_step,1100,1900);
}
if ( lights1 >= 1900 || lights1 <= 1100 ) {
increasing = !increasing;
}
}
break;
case JSButton::button_function_t::k_lights1_brighter:
if ( !held ) {
lights1 = constrain_float(lights1+g.lights_step,1100,1900);
}
break;
case JSButton::button_function_t::k_lights1_dimmer:
if ( !held ) {
lights1 = constrain_float(lights1-g.lights_step,1100,1900);
}
break;
case JSButton::button_function_t::k_lights2_cycle:
if ( !held ) {
static bool increasing = true;
if ( increasing ) {
lights2 = constrain_float(lights2+g.lights_step,1100,1900);
} else {
lights2 = constrain_float(lights2-g.lights_step,1100,1900);
}
if ( lights2 >= 1900 || lights2 <= 1100 ) {
increasing = !increasing;
}
}
break;
case JSButton::button_function_t::k_lights2_brighter:
if ( !held ) {
lights2 = constrain_float(lights2+g.lights_step,1100,1900);
}
break;
case JSButton::button_function_t::k_lights2_dimmer:
if ( !held ) {
lights2 = constrain_float(lights2-g.lights_step,1100,1900);
}
break;
case JSButton::button_function_t::k_gain_toggle:
if ( !held ) {
static bool lowGain = false;
lowGain = !lowGain;
if ( lowGain ) {
gain = 0.5f;
} else {
gain = 1.0f;
}
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain: %2.0f%%",gain*100);
}
break;
case JSButton::button_function_t::k_gain_inc:
if ( !held ) {
// check that our gain parameters are in correct range, update in eeprom and notify gcs if needed
g.minGain.set_and_save(constrain_float(g.minGain, 0.10, 0.80));
g.maxGain.set_and_save(constrain_float(g.maxGain, g.minGain, 1.0));
g.numGainSettings.set_and_save(constrain_int16(g.numGainSettings, 1, 10));
if(g.numGainSettings == 1) {
gain = constrain_float(g.gain_default, g.minGain, g.maxGain);
} else {
gain = constrain_float(gain + (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain);
}
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",gain*100);
}
break;
case JSButton::button_function_t::k_gain_dec:
if ( !held ) {
// check that our gain parameters are in correct range, update in eeprom and notify gcs if needed
g.minGain.set_and_save(constrain_float(g.minGain, 0.10, 0.80));
g.maxGain.set_and_save(constrain_float(g.maxGain, g.minGain, 1.0));
g.numGainSettings.set_and_save(constrain_int16(g.numGainSettings, 1, 10));
if(g.numGainSettings == 1) {
gain = constrain_float(g.gain_default, g.minGain, g.maxGain);
} else {
gain = constrain_float(gain - (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain);
}
gcs_send_text_fmt(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",gain*100);
}
break;
case JSButton::button_function_t::k_trim_roll_inc:
rollTrim = constrain_float(rollTrim+10,-200,200);
break;
case JSButton::button_function_t::k_trim_roll_dec:
rollTrim = constrain_float(rollTrim-10,-200,200);
break;
case JSButton::button_function_t::k_trim_pitch_inc:
pitchTrim = constrain_float(pitchTrim+10,-200,200);
break;
case JSButton::button_function_t::k_trim_pitch_dec:
pitchTrim = constrain_float(pitchTrim-10,-200,200);
break;
case JSButton::button_function_t::k_input_hold_toggle:
if ( !held ) {
zTrim = z_last-500;
xTrim = x_last;
yTrim = y_last;
gcs_send_text(MAV_SEVERITY_INFO,"#Input Hold Set");
}
break;
case JSButton::button_function_t::k_relay_1_on:
// Not implemented
break;
case JSButton::button_function_t::k_relay_1_off:
// Not implemented
break;
case JSButton::button_function_t::k_relay_1_toggle:
// Not implemented
break;
case JSButton::button_function_t::k_relay_2_on:
// Not implemented
break;
case JSButton::button_function_t::k_relay_2_off:
// Not implemented
break;
case JSButton::button_function_t::k_relay_2_toggle:
// Not implemented
break;
case JSButton::button_function_t::k_custom_1:
// Not implemented
break;
case JSButton::button_function_t::k_custom_2:
// Not implemented
break;
case JSButton::button_function_t::k_custom_3:
// Not implemented
break;
case JSButton::button_function_t::k_custom_4:
// Not implemented
break;
case JSButton::button_function_t::k_custom_5:
// Not implemented
break;
case JSButton::button_function_t::k_custom_6:
// Not implemented
break;
}
// Update the control mode if needed
if(control_mode != next_mode) {
if(set_mode(next_mode, MODE_REASON_TX_COMMAND)) {
// Notify user
if (ap.initialised) {
AP_Notify::events.user_mode_change = 1;
}
// Update CH5 pwm value (For GCS)
mode_switch_pwm = next_mode_switch_pwm;
} else {
// Notify user
if(ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1;
}
}
}
}
JSButton* Sub::get_button(uint8_t index) {
// Help to access appropriate parameter
switch (index) {
case 0: return &g.jbtn_0;
case 1: return &g.jbtn_1;
case 2: return &g.jbtn_2;
case 3: return &g.jbtn_3;
case 4: return &g.jbtn_4;
case 5: return &g.jbtn_5;
case 6: return &g.jbtn_6;
case 7: return &g.jbtn_7;
case 8: return &g.jbtn_8;
case 9: return &g.jbtn_9;
case 10: return &g.jbtn_10;
case 11: return &g.jbtn_11;
case 12: return &g.jbtn_12;
case 13: return &g.jbtn_13;
case 14: return &g.jbtn_14;
case 15: return &g.jbtn_15;
default: return &g.jbtn_0;
}
}
void Sub::camera_tilt_smooth() {
int16_t channels[11];
for ( uint8_t i = 0 ; i < 11 ; i++ ) {
channels[i] = 0xffff;
}
// Camera tilt low pass filter
cam_tilt = cam_tilt*cam_tilt_alpha+cam_tilt_goal*(1-cam_tilt_alpha);
channels[7] = cam_tilt;
failsafe.rc_override_active = hal.rcin->set_overrides(channels, 10);
}
void Sub::default_js_buttons() {
JSButton::button_function_t defaults[16][2] = {
{JSButton::button_function_t::k_none, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_mode_1, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_mode_3, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_mode_2, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_disarm, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_shift, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_arm, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_mount_center, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_input_hold_toggle, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_mount_tilt_down, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_mount_tilt_up, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_gain_inc, JSButton::button_function_t::k_trim_pitch_dec},
{JSButton::button_function_t::k_gain_dec, JSButton::button_function_t::k_trim_pitch_inc},
{JSButton::button_function_t::k_lights1_dimmer, JSButton::button_function_t::k_trim_roll_dec},
{JSButton::button_function_t::k_lights1_brighter, JSButton::button_function_t::k_trim_roll_inc},
{JSButton::button_function_t::k_none, JSButton::button_function_t::k_none},
};
for(int i = 0; i < 16; i++) {
get_button(i)->set_default(defaults[i][0], defaults[i][1]);
}
}
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