aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Sub: Implement mode_toggle joystick button function

Browse Source
This commit is contained in:
Jacob Walser 2016-12-07 12:21:56 -05:00 committed by Andrew Tridgell
parent b108620742
commit e61bf46882
1 changed files with 12 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduSub/joystick.cpp
View File

@ -22,6 +22,7 @@ namespace {
int16_t x_last, y_last, z_last;
uint16_t buttons_prev;
float gain;
bool toggle_mode = true;
}
void Sub::init_joystick() {
@ -114,31 +115,41 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held) {
init_disarm_motors();
break;
case JSButton::button_function_t::k_mode_toggle:
init_disarm_motors();
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 = 1500;