mirror of https://github.com/ArduPilot/ardupilot
49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
#include "AP_RCProtocol_config.h"
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#if AP_RCPROTOCOL_JOYSTICK_SFML_ENABLED
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#include "AP_RCProtocol_Joystick_SFML.h"
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#include <SITL/SITL.h>
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#ifdef HAVE_SFML_GRAPHICS_HPP
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#include <SFML/Window/Joystick.hpp>
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#elif HAVE_SFML_GRAPHIC_H
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#include <SFML/Window/Joystick.h>
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#endif
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void AP_RCProtocol_Joystick_SFML::update()
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{
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auto *_sitl = AP::sitl();
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if (_sitl == nullptr) {
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return;
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}
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sf::Joystick::update();
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const unsigned int stick_id = _sitl->sfml_joystick_id;
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if (!sf::Joystick::isConnected(stick_id)) {
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return;
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}
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uint16_t pwm_values[ARRAY_SIZE(_sitl->sfml_joystick_axis)]{};
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for (uint8_t ch=0; ch<ARRAY_SIZE(_sitl->sfml_joystick_axis); ch++) {
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const sf::Joystick::Axis axis = sf::Joystick::Axis(_sitl->sfml_joystick_axis[ch].get());
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if (!sf::Joystick::hasAxis(stick_id, axis)) {
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continue;
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}
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// pos is a value between -100 and 100:
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const auto pos = sf::Joystick::getAxisPosition(stick_id, axis);
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// convert to a "pwm" value between 1000 and 2000:
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const uint16_t pwm = (constrain_float(pos + 100, 0, 200) * 5) + 1000;
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pwm_values[ch] = pwm;
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}
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// never in failsafe:
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add_input(ARRAY_SIZE(pwm_values), pwm_values, false);
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}
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#endif // AP_RCPROTOCOL_JOYSTICK_SFML_ENABLED
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