From 9e1d9e9547bf33f7401c9e7a28d16d09f3625b2b Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 17 Jul 2014 15:01:43 +0200
Subject: [PATCH] make joystick changed signal work again

---
 src/input/JoystickInput.cc | 5 +++--
 src/input/JoystickInput.h  | 8 ++++----
 src/uas/UAS.cc             | 3 ++-
 src/uas/UAS.h              | 2 +-
 4 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/input/JoystickInput.cc b/src/input/JoystickInput.cc
index 95260cd495..a1f11f6b78 100644
--- a/src/input/JoystickInput.cc
+++ b/src/input/JoystickInput.cc
@@ -323,7 +323,7 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
         tmp = dynamic_cast<UAS*>(this->uas);
         if(tmp)
         {
-            disconnect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16,JOYSTICK_MODE)), tmp, SLOT(setExternalControlSetpoint(float,float,float,float,qint8,qint8,quint16, JOYSTICK_MODE)));
+            disconnect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16,quint8)), tmp, SLOT(setExternalControlSetpoint(float,float,float,float,qint8,qint8,quint16,quint8)));
             disconnect(this, SIGNAL(actionTriggered(int)), tmp, SLOT(triggerAction(int)));
         }
         uasCanReverse = false;
@@ -339,7 +339,8 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
 
     if (this->uas && (tmp = dynamic_cast<UAS*>(this->uas)))
     {
-        connect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16,JOYSTICK_MODE)), tmp, SLOT(setExternalControlSetpoint(float,float,float,float,qint8,qint8,quint16,JOYSTICK_MODE)));
+        connect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16,quint8)), tmp, SLOT(setExternalControlSetpoint(float,float,float,float,qint8,qint8,quint16,quint8)));
+        qDebug() << "connected joystick";
         connect(this, SIGNAL(actionTriggered(int)), tmp, SLOT(triggerAction(int)));
         uasCanReverse = tmp->systemCanReverse();
 
diff --git a/src/input/JoystickInput.h b/src/input/JoystickInput.h
index 1f6548fd88..682ee8a36e 100644
--- a/src/input/JoystickInput.h
+++ b/src/input/JoystickInput.h
@@ -96,8 +96,8 @@ public:
     enum JOYSTICK_MODE
     {
         JOYSTICK_MODE_ATTITUDE     = 0,
-        JOYSTICK_MODE_POSITION      = 1,
-        JOYSTICK_MODE_FORCE    = 2,
+        JOYSTICK_MODE_POSITION     = 1,
+        JOYSTICK_MODE_FORCE        = 2
     };
 
     /**
@@ -253,7 +253,7 @@ signals:
      * @param yHat hat vector in left-right direction, -1 left, 0 center, +1 right
      * @param mode (setpoint type) see JOYSTICK_MODE enum
      */
-    void joystickChanged(float roll, float pitch, float yaw, float throttle, qint8 xHat, qint8 yHat, quint16 buttons, JOYSTICK_MODE mode);
+    void joystickChanged(float roll, float pitch, float yaw, float throttle, qint8 xHat, qint8 yHat, quint16 buttons, quint8 mode);
 
     /**
       * @brief Emit a new value for an axis
@@ -366,7 +366,7 @@ public slots:
      * @brief Specify which setpoints should be sent to the UAS when moving the joystick
      * @param newMode the mode (setpoint type) see the JOYSTICK_MODE enum
      */
-    void setMode(int newMode)
+    void setMode(quint8 newMode)
     {
         mode = (JOYSTICK_MODE)newMode;
     }
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index c3b0bdca26..fe729d9601 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -2933,7 +2933,7 @@ void UAS::toggleAutonomy()
 * Set the manual control commands.
 * This can only be done if the system has manual inputs enabled and is armed.
 */
-void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons, JoystickInput::JOYSTICK_MODE joystickMode)
+void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons, quint8 joystickMode)
 {
     Q_UNUSED(xHat);
     Q_UNUSED(yHat);
@@ -2978,6 +2978,7 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
         manualButtons = buttons;
 
         mavlink_message_t message;
+        qDebug() << "js mode" << joystickMode;
 
         if (joystickMode == JoystickInput::JOYSTICK_MODE_ATTITUDE)
         {
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index de48cf9e4b..6c585576c3 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -839,7 +839,7 @@ public slots:
     void toggleAutonomy();
 
     /** @brief Set the values for the manual control of the vehicle */
-    void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons, JoystickInput::JOYSTICK_MODE joystickMode);
+    void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons, quint8);
 
     /** @brief Set the values for the 6dof manual control of the vehicle */
     void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);
-- 
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