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Sub: allow ignoring axes in MANUAL_CONTROL #32348

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Sub: allow ignoring axes in MANUAL_CONTROL #32348

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2 changes: 2 additions & 0 deletions ArduSub/defines.h
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Original file line number Diff line number Diff line change
Expand Up @@ -156,3 +156,5 @@ enum LoggingParameters {
#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)

// For MAVLink MANUAL_CONTROL messages
#define MANUAL_CONTROL_AXIS_IGNORE INT16_MAX
34 changes: 26 additions & 8 deletions ArduSub/joystick.cpp
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Expand Up @@ -91,11 +91,17 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t

buttons_prev = all_buttons;

// handle explicit axis ignores
const bool ignoreX = (x == MANUAL_CONTROL_AXIS_IGNORE);
const bool ignoreY = (y == MANUAL_CONTROL_AXIS_IGNORE);
const bool ignoreZ = (z == MANUAL_CONTROL_AXIS_IGNORE);
const bool ignoreR = (r == MANUAL_CONTROL_AXIS_IGNORE);

// attitude mode:
if (roll_pitch_flag == 1) {
// adjust roll/pitch trim with joystick input instead of forward/lateral
pitchTrim = -x * rpyScale;
rollTrim = y * rpyScale;
pitchTrim = (ignoreX) ? 0.0 : -x * rpyScale;
rollTrim = (ignoreY) ? 0.0 : y * rpyScale;
}

uint32_t tnow = AP_HAL::millis();
Expand All @@ -119,18 +125,30 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
channel_pitch->set_override(constrain_int16(s + pitchTrim + rpyCenter,1100,1900), tnow);
channel_roll->set_override(constrain_int16(t + rollTrim + rpyCenter,1100,1900), tnow);

channel_throttle->set_override(constrain_int16((zTot)*throttleScale+throttleBase,1100,1900), tnow);
channel_yaw->set_override(constrain_int16(r*rpyScale+rpyCenter,1100,1900), tnow);
if (!ignoreZ) {
channel_throttle->set_override(constrain_int16((zTot)*throttleScale+throttleBase,1100,1900), tnow);
}
if (!ignoreR) {
channel_yaw->set_override(constrain_int16(r*rpyScale+rpyCenter,1100,1900), tnow);
}

// maneuver mode:
if (roll_pitch_flag == 0) {
// adjust forward and lateral with joystick input instead of roll and pitch
channel_forward->set_override(constrain_int16((xTot)*rpyScale+rpyCenter,1100,1900), tnow);
channel_lateral->set_override(constrain_int16((yTot)*rpyScale+rpyCenter,1100,1900), tnow);
if (!ignoreX) {
channel_forward->set_override(constrain_int16((xTot)*rpyScale+rpyCenter,1100,1900), tnow);
}
if (!ignoreY) {
channel_lateral->set_override(constrain_int16((yTot)*rpyScale+rpyCenter,1100,1900), tnow);
}
} else {
// neutralize forward and lateral input while we are adjusting roll and pitch
channel_forward->set_override(constrain_int16(xTrim*rpyScale+rpyCenter,1100,1900), tnow);
channel_lateral->set_override(constrain_int16(yTrim*rpyScale+rpyCenter,1100,1900), tnow);
if (!ignoreX) {
channel_forward->set_override(constrain_int16(xTrim*rpyScale+rpyCenter,1100,1900), tnow);
}
if (!ignoreY) {
channel_lateral->set_override(constrain_int16(yTrim*rpyScale+rpyCenter,1100,1900), tnow);
}
}

#if HAL_MOUNT_ENABLED
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