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MAVLink receiver: Clean up joystick interface

This commit is contained in:
Lorenz Meier 2015-09-04 14:56:18 +02:00
parent 3a2e2ef304
commit 6e9a460c17
1 changed files with 5 additions and 21 deletions
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26
src/modules/mavlink/mavlink_receiver.cpp
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@ -990,8 +990,8 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
switch_pos_t
MavlinkReceiver::decode_switch_pos(uint16_t buttons, unsigned sw)
{
// XXX non-standard 3 pos switch decoding
return (buttons >> (sw * 2)) & 3;
// This 2-bit method should be used in the future: (buttons >> (sw * 2)) & 3;
return (buttons & (1 << sw));
}
int
@ -1101,26 +1101,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
rc.values[0] = man.x / 2 + 1500;
/* pitch */
rc.values[1] = man.y / 2 + 1500;
/*
* yaw needs special handling as some joysticks have a circular mechanical mask,
* which makes the corner positions unreachable.
* scale yaw up and clip it to overcome this.
*/
rc.values[2] = man.r / 1.1f + 1500;
if (rc.values[2] > 2000) {
rc.values[2] = 2000;
} else if (rc.values[2] < 1000) {
rc.values[2] = 1000;
}
/* yaw */
rc.values[2] = man.r / 2 + 1500;
/* throttle */
rc.values[3] = man.z / 0.9f + 1000;
if (rc.values[3] > 2000) {
rc.values[3] = 2000;
} else if (rc.values[3] < 1000) {
rc.values[3] = 1000;
}
rc.values[3] = man.z / 2 + 1000;
/* decode all switches which fit into the channel mask */
unsigned max_switch = (sizeof(man.buttons) * 8);