Joystick.cc

        if (buttonDown) {
            emit startContinuousZoom(action == _buttonActionContinuousZoomIn ? 1 : -1);
        } else {
            emit stopContinuousZoom();
        }
    } else if(action == _buttonActionStepZoomIn || action == _buttonActionStepZoomOut) {
        if (buttonDown) emit stepZoom(action == _buttonActionStepZoomIn ? 1 : -1);
    } else if(action == _buttonActionNextStream || action == _buttonActionPreviousStream) {
        if (buttonDown) emit stepStream(action == _buttonActionNextStream ? 1 : -1);
    } else if(action == _buttonActionNextCamera || action == _buttonActionPreviousCamera) {
        if (buttonDown) emit stepCamera(action == _buttonActionNextCamera ? 1 : -1);
    } else if(action == _buttonActionTriggerCamera) {
        if (buttonDown) emit triggerCamera();
    } else if(action == _buttonActionStartVideoRecord) {
        if (buttonDown) emit startVideoRecord();
    } else if(action == _buttonActionStopVideoRecord) {
        if (buttonDown) emit stopVideoRecord();
    } else if(action == _buttonActionToggleVideoRecord) {
        if (buttonDown) emit toggleVideoRecord();
    } else if(action == _buttonActionGimbalUp) {
        if (buttonDown) _pitchStep(1);
    } else if(action == _buttonActionGimbalDown) {
        if (buttonDown) _pitchStep(-1);
    } else if(action == _buttonActionGimbalLeft) {
        if (buttonDown) _yawStep(-1);
    } else if(action == _buttonActionGimbalRight) {
        if (buttonDown) _yawStep(1);
    } else if(action == _buttonActionGimbalCenter) {
        if (buttonDown) {
            _localPitch = 0.0;
            _localYaw   = 0.0;
            emit gimbalControlValue(0.0, 0.0);
        }
    } else if(action == _buttonActionEmergencyStop) {
      if(buttonDown) emit emergencyStop();
    } else {
        qCDebug(JoystickLog) << "_buttonAction unknown action:" << action;
    }
}

void Joystick::_pitchStep(int direction)
{
    _localPitch += static_cast<double>(direction);
    //-- Arbitrary range
    if(_localPitch < -90.0) _localPitch = -90.0;
    if(_localPitch >  35.0) _localPitch =  35.0;
    emit gimbalControlValue(_localPitch, _localYaw);
}

void Joystick::_yawStep(int direction)
{
    _localYaw += static_cast<double>(direction);
    if(_localYaw < -180.0) _localYaw = -180.0;
    if(_localYaw >  180.0) _localYaw =  180.0;
    emit gimbalControlValue(_localPitch, _localYaw);
}

bool Joystick::_validAxis(int axis)
{
    if(axis >= 0 && axis < _axisCount) {
        return true;
    }
    qCWarning(JoystickLog) << "Invalid axis index" << axis;
    return false;
}

bool Joystick::_validButton(int button)
{
    if(button >= 0 && button < _totalButtonCount)
        return true;
    qCWarning(JoystickLog) << "Invalid button index" << button;
    return false;
}

int Joystick::_findAssignableButtonAction(const QString& action)
{
    for(int i = 0; i < _assignableButtonActions.count(); i++) {
        AssignableButtonAction* p = qobject_cast<AssignableButtonAction*>(_assignableButtonActions[i]);
        if(p->action() == action)
            return i;
    }
    return -1;
}

void Joystick::_buildActionList(Vehicle* activeVehicle)
{
    if(_assignableButtonActions.count())
        _assignableButtonActions.clearAndDeleteContents();
    _availableActionTitles.clear();
    //-- Available Actions
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionNone));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionArm));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionDisarm));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionToggleArm));
    if (activeVehicle) {
        QStringList list = activeVehicle->flightModes();
        foreach(auto mode, list) {
            _assignableButtonActions.append(new AssignableButtonAction(this, mode));
        }
        list = activeVehicle->extraJoystickFlightModes();
        foreach(auto mode, list) {
            _assignableButtonActions.append(new AssignableButtonAction(this, mode));
        }
    }
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionVTOLFixedWing));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionVTOLMultiRotor));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionContinuousZoomIn, true));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionContinuousZoomOut, true));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionStepZoomIn,  true));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionStepZoomOut, true));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionNextStream));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionPreviousStream));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionNextCamera));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionPreviousCamera));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionTriggerCamera));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionStartVideoRecord));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionStopVideoRecord));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionToggleVideoRecord));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionGimbalDown,    true));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionGimbalUp,      true));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionGimbalLeft,    true));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionGimbalRight,   true));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionGimbalCenter));
    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionEmergencyStop));
    for(int i = 0; i < _assignableButtonActions.count(); i++) {
        AssignableButtonAction* p = qobject_cast<AssignableButtonAction*>(_assignableButtonActions[i]);
        _availableActionTitles << p->action();
    }
    emit assignableActionsChanged();
}