Fix button state handling

Support up to 64 buttons, not limit to 16
Send a single button command and not a stream of commands at 25Hz
Send button commands through signals (it's coming from a different thread)
Hide gimbal support through analog channels (there are no MAVLink messages to handle it)

src/Joystick/Joystick.h

@@ -60,31 +60,35 @@ public:
         ThrottleModeMax
     } ThrottleMode_t;
 
-    Q_PROPERTY(QString name READ name CONSTANT)
-
-    Q_PROPERTY(bool calibrated MEMBER _calibrated NOTIFY calibratedChanged)
-
-    Q_PROPERTY(int totalButtonCount  READ totalButtonCount    CONSTANT)
-    Q_PROPERTY(int axisCount    READ axisCount      CONSTANT)
-
-    Q_PROPERTY(QStringList actions READ actions CONSTANT)
-
-    Q_PROPERTY(QVariantList buttonActions READ buttonActions NOTIFY buttonActionsChanged)
-    Q_INVOKABLE void setButtonAction(int button, const QString& action);
-    Q_INVOKABLE QString getButtonAction(int button);
-
-    Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
-    Q_PROPERTY(bool negativeThrust READ negativeThrust WRITE setNegativeThrust NOTIFY negativeThrustChanged)
-    Q_PROPERTY(float exponential READ exponential WRITE setExponential NOTIFY exponentialChanged)
-    Q_PROPERTY(bool accumulator READ accumulator WRITE setAccumulator NOTIFY accumulatorChanged)
-    Q_PROPERTY(bool requiresCalibration READ requiresCalibration CONSTANT)
-    Q_PROPERTY(bool circleCorrection READ circleCorrection WRITE setCircleCorrection NOTIFY circleCorrectionChanged)
-    Q_PROPERTY(float frequency READ frequency WRITE setFrequency NOTIFY frequencyChanged)
+    Q_PROPERTY(QString  name                READ name                   CONSTANT)
+    Q_PROPERTY(bool     calibrated          MEMBER _calibrated          NOTIFY calibratedChanged)
+    Q_PROPERTY(int      totalButtonCount    READ totalButtonCount       CONSTANT)
+    Q_PROPERTY(int      axisCount           READ axisCount              CONSTANT)
+    Q_PROPERTY(bool     requiresCalibration READ requiresCalibration    CONSTANT)
+    Q_PROPERTY(QStringList actions          READ actions                CONSTANT)
+    Q_PROPERTY(QVariantList buttonActions   READ buttonActions          NOTIFY buttonActionsChanged)
+
+    Q_PROPERTY(bool     gimbalEnabled       READ gimbalEnabled          WRITE setGimbalEnabled      NOTIFY gimbalEnabledChanged)
+    Q_PROPERTY(int      throttleMode        READ throttleMode           WRITE setThrottleMode       NOTIFY throttleModeChanged)
+    Q_PROPERTY(float    frequency           READ frequency              WRITE setFrequency          NOTIFY frequencyChanged)
+    Q_PROPERTY(bool     negativeThrust      READ negativeThrust         WRITE setNegativeThrust     NOTIFY negativeThrustChanged)
+    Q_PROPERTY(float    exponential         READ exponential            WRITE setExponential        NOTIFY exponentialChanged)
+    Q_PROPERTY(bool     accumulator         READ accumulator            WRITE setAccumulator        NOTIFY accumulatorChanged)
+    Q_PROPERTY(bool     circleCorrection    READ circleCorrection       WRITE setCircleCorrection   NOTIFY circleCorrectionChanged)
+
+    Q_INVOKABLE void    setButtonAction (int button, const QString& action);
+    Q_INVOKABLE QString getButtonAction (int button);
 
     // Property accessors
 
-    int axisCount(void) { return _axisCount; }
-    int totalButtonCount(void) { return _totalButtonCount; }
+    QString     name                () { return _name; }
+    int         totalButtonCount    () { return _totalButtonCount; }
+    int         axisCount           () { return _axisCount; }
+    bool        gimbalEnabled       () { return _gimbalEnabled; }
+    QStringList  actions            ();
+    QVariantList buttonActions      ();
+
+    void setGimbalEnabled           (bool set);
 
     /// Start the polling thread which will in turn emit joystick signals
     void startPolling(Vehicle* vehicle);
@@ -96,10 +100,7 @@ public:
     void setFunctionAxis(AxisFunction_t function, int axis);
     int getFunctionAxis(AxisFunction_t function);
 
-    QStringList actions(void);
-    QVariantList buttonActions(void);
 
-    QString name(void) { return _name; }
 /*
     // Joystick index used by sdl library
     // Settable because sdl library remaps indices after certain events
@@ -162,18 +163,26 @@ signals:
     ///     @param yaw          Range is -1:1, negative meaning yaw left, positive meaning yaw right
     ///     @param throttle     Range is 0:1, 0 meaning no throttle, 1 meaning full throttle
     ///     @param mode     See Vehicle::JoystickMode_t enum
-    void manualControl      (float roll, float pitch, float yaw, float throttle, quint16 buttons, int joystickMmode);
+    void manualControl          (float roll, float pitch, float yaw, float throttle, quint16 buttons, int joystickMmode);
+    void manualControlGimbal    (float gimbalPitch, float gimbalYaw);
 
     void buttonActionTriggered(int action);
 
-    void frequencyChanged   ();
-    void stepZoom           (int direction);
-    void stepCamera         (int direction);
-    void stepStream         (int direction);
-    void triggerCamera      ();
-    void startVideoRecord   ();
-    void stopVideoRecord    ();
-    void toggleVideoRecord  ();
+    void gimbalEnabledChanged   ();
+    void frequencyChanged       ();
+    void stepZoom               (int direction);
+    void stepCamera             (int direction);
+    void stepStream             (int direction);
+    void triggerCamera          ();
+    void startVideoRecord       ();
+    void stopVideoRecord        ();
+    void toggleVideoRecord      ();
+    void gimbalPitchStep        (int direction);
+    void gimbalYawStep          (int direction);
+    void centerGimbal           ();
+    void setArmed               (bool arm);
+    void setVtolInFwdFlight     (bool set);
+    void setFlightMode          (const QString& flightMode);
 
 protected:
     void    _setDefaultCalibration  ();
@@ -185,29 +194,35 @@ protected:
     bool    _validButton            (int button);
 
 private:
-    virtual bool _open()    = 0;
-    virtual void _close()   = 0;
-    virtual bool _update()  = 0;
+    virtual bool _open      ()          = 0;
+    virtual void _close     ()          = 0;
+    virtual bool _update    ()          = 0;
 
-    virtual bool _getButton(int i) = 0;
-    virtual int _getAxis(int i) = 0;
-    virtual uint8_t _getHat(int hat,int i) = 0;
+    virtual bool _getButton (int i)      = 0;
+    virtual int  _getAxis   (int i)      = 0;
+    virtual bool _getHat    (int hat,int i) = 0;
 
     void _updateTXModeSettingsKey(Vehicle* activeVehicle);
     int _mapFunctionMode(int mode, int function);
     void _remapAxes(int currentMode, int newMode, int (&newMapping)[maxFunction]);
 
     // Override from QThread
-    virtual void run(void);
+    virtual void run();
 
 protected:
 
+    enum {
+        BUTTON_UP,
+        BUTTON_DOWN,
+        BUTTON_REPEAT
+    };
+
+    uint8_t*_rgButtonValues         = nullptr;
+
     bool    _exitThread             = false;    ///< true: signal thread to exit
     bool    _calibrationMode        = false;
     int*    _rgAxisValues           = nullptr;
     Calibration_t* _rgCalibration   = nullptr;
-    bool*   _rgButtonValues         = nullptr;
-    quint16 _lastButtonBits         = 0;
     ThrottleMode_t _throttleMode    = ThrottleModeDownZero;
     bool    _negativeThrust         = false;
     float   _exponential            = 0;
@@ -216,7 +231,7 @@ protected:
     bool    _circleCorrection       = true;
     float   _frequency              = 25.0f;
     Vehicle* _activeVehicle         = nullptr;
-
+    bool    _gimbalEnabled          = false;
 
     bool    _pollingStartedForCalibration = false;
 
@@ -234,7 +249,7 @@ protected:
 
     QStringList         _rgButtonActions;
 
-    MultiVehicleManager*    _multiVehicleManager;
+    MultiVehicleManager* _multiVehicleManager = nullptr;
 
 private:
     static const char*  _rgFunctionSettingsKey[maxFunction];
@@ -254,6 +269,7 @@ private:
     static const char* _roverTXModeSettingsKey;
     static const char* _vtolTXModeSettingsKey;
     static const char* _submarineTXModeSettingsKey;
+    static const char* _gimbalSettingsKey;
 
     static const char* _buttonActionArm;
     static const char* _buttonActionDisarm;

src/Joystick/JoystickAndroid.cc

@@ -200,11 +200,10 @@ int JoystickAndroid::_getAxis(int i) {
     return axisValue[ i ];
 }
 
-uint8_t JoystickAndroid::_getHat(int hat,int i) {
+bool JoystickAndroid::_getHat(int hat,int i) {
     Q_UNUSED(hat);
     Q_UNUSED(i);
-
-    return 0;
+    return false;
 }
 
 static JoystickManager *_manager = nullptr;

src/Joystick/JoystickAndroid.h

@@ -29,13 +29,13 @@ private:
     bool handleKeyEvent(jobject event);
     bool handleGenericMotionEvent(jobject event);
 
-    virtual bool _open();
-    virtual void _close();
-    virtual bool _update();
+    virtual bool _open          ();
+    virtual void _close         ();
+    virtual bool _update        ();
 
-    virtual bool _getButton(int i);
-    virtual int _getAxis(int i);
-    virtual uint8_t _getHat(int hat,int i);
+    virtual bool _getButton     (int i);
+    virtual int  _getAxis       (int i);
+    virtual bool _getHat        (int hat,int i);
 
     int *btnCode;
     int *axisCode;

src/Joystick/JoystickSDL.cc

@@ -19,7 +19,6 @@ bool JoystickSDL::init(void) {
         qWarning() << "Couldn't initialize SimpleDirectMediaLayer:" << SDL_GetError();
         return false;
     }
-
     _loadGameControllerMappings();
     return true;
 }
@@ -78,7 +77,7 @@ QMap<QString, Joystick*> JoystickSDL::discover(MultiVehicleManager* _multiVehicl
             newRet[name] = new JoystickSDL(name, qMax(0,axisCount), qMax(0,buttonCount), qMax(0,hatCount), i, isGameController, _multiVehicleManager);
         } else {
             newRet[name] = ret[name];
-            JoystickSDL *j = (JoystickSDL*)newRet[name];
+            JoystickSDL *j = static_cast<JoystickSDL*>(newRet[name]);
             if (j->index() != i) {
                 j->setIndex(i); // This joystick index has been remapped by SDL
             }
@@ -131,7 +130,7 @@ bool JoystickSDL::_open(void) {
 }
 
 void JoystickSDL::_close(void) {
-    if (sdlJoystick == NULL) {
+    if (sdlJoystick == nullptr) {
         qCDebug(JoystickLog) << "Attempt to close null joystick!";
         return;
     }
@@ -152,8 +151,8 @@ void JoystickSDL::_close(void) {
         }
     }
 
-    sdlJoystick = NULL;
-    sdlController = NULL;
+    sdlJoystick   = nullptr;
+    sdlController = nullptr;
 }
 
 bool JoystickSDL::_update(void)
@@ -164,26 +163,25 @@ bool JoystickSDL::_update(void)
 }
 
 bool JoystickSDL::_getButton(int i) {
-    if ( _isGameController ) {
-        return !!SDL_GameControllerGetButton(sdlController, SDL_GameControllerButton(i));
+    if (_isGameController) {
+        return SDL_GameControllerGetButton(sdlController, SDL_GameControllerButton(i)) == 1;
     } else {
-        return !!SDL_JoystickGetButton(sdlJoystick, i);
+        return SDL_JoystickGetButton(sdlJoystick, i) == 1;
     }
 }
 
 int JoystickSDL::_getAxis(int i) {
-    if ( _isGameController ) {
+    if (_isGameController) {
         return SDL_GameControllerGetAxis(sdlController, SDL_GameControllerAxis(i));
     } else {
         return SDL_JoystickGetAxis(sdlJoystick, i);
     }
 }
 
-uint8_t JoystickSDL::_getHat(int hat,int i) {
+bool JoystickSDL::_getHat(int hat, int i) {
     uint8_t hatButtons[] = {SDL_HAT_UP,SDL_HAT_DOWN,SDL_HAT_LEFT,SDL_HAT_RIGHT};
-
-    if ( i < int(sizeof(hatButtons)) ) {
-        return !!(SDL_JoystickGetHat(sdlJoystick, hat) & hatButtons[i]);
+    if (i < int(sizeof(hatButtons))) {
+        return (SDL_JoystickGetHat(sdlJoystick, hat) & hatButtons[i]) != 0;
     }
-    return 0;
+    return false;
 }

src/Joystick/JoystickSDL.h

@@ -24,16 +24,17 @@ public:
 private:
     static void _loadGameControllerMappings();
 
-    bool _open() final;
-    void _close() final;
-    bool _update() final;
+    bool _open      () final;
+    void _close     () final;
+    bool _update    () final;
 
-    bool _getButton(int i) final;
-    int _getAxis(int i) final;
-    uint8_t _getHat(int hat,int i) final;
+    bool _getButton (int i) final;
+    int  _getAxis   (int i) final;
+    bool _getHat    (int hat,int i) final;
+
+    SDL_Joystick*       sdlJoystick;
+    SDL_GameController* sdlController;
 
-    SDL_Joystick *sdlJoystick;
-    SDL_GameController *sdlController;
     bool    _isGameController;
     int     _index;      ///< Index for SDL_JoystickOpen
 

src/Vehicle/Vehicle.cc

@@ -3064,26 +3064,29 @@ void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius,
         qgcApp()->showMessage(QStringLiteral("Orbit mode not supported by Vehicle."));
         return;
     }
-
     if (capabilityBits() & MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
-        sendMavCommandInt(defaultComponentId(),
-                          MAV_CMD_DO_ORBIT,
-                          MAV_FRAME_GLOBAL,
-                          true,            // show error if fails
-                          radius,
-                          qQNaN(),         // Use default velocity
-                          0,               // Vehicle points to center
-                          qQNaN(),         // reserved
-                          centerCoord.latitude(), centerCoord.longitude(), amslAltitude);
+        sendMavCommandInt(
+            defaultComponentId(),
+            MAV_CMD_DO_ORBIT,
+            MAV_FRAME_GLOBAL,
+            true,                           // show error if fails
+            static_cast<float>(radius),
+            static_cast<float>(qQNaN()),    // Use default velocity
+            0,                              // Vehicle points to center
+            static_cast<float>(qQNaN()),    // reserved
+            centerCoord.latitude(), centerCoord.longitude(), static_cast<float>(amslAltitude));
     } else {
-        sendMavCommand(defaultComponentId(),
-                       MAV_CMD_DO_ORBIT,
-                       true,            // show error if fails
-                       radius,
-                       qQNaN(),         // Use default velocity
-                       0,               // Vehicle points to center
-                       qQNaN(),         // reserved
-                       centerCoord.latitude(), centerCoord.longitude(), amslAltitude);
+        sendMavCommand(
+            defaultComponentId(),
+            MAV_CMD_DO_ORBIT,
+            true,                           // show error if fails
+            static_cast<float>(radius),
+            static_cast<float>(qQNaN()),    // Use default velocity
+            0,                              // Vehicle points to center
+            static_cast<float>(qQNaN()),    // reserved
+            static_cast<float>(centerCoord.latitude()),
+            static_cast<float>(centerCoord.longitude()),
+            static_cast<float>(amslAltitude));
     }
 }
 
@@ -3098,10 +3101,11 @@ void Vehicle::pauseVehicle(void)
 
 void Vehicle::abortLanding(double climbOutAltitude)
 {
-    sendMavCommand(defaultComponentId(),
-                   MAV_CMD_DO_GO_AROUND,
-                   true,        // show error if fails
-                   climbOutAltitude);
+    sendMavCommand(
+        defaultComponentId(),
+        MAV_CMD_DO_GO_AROUND,
+        true,        // show error if fails
+        static_cast<float>(climbOutAltitude));
 }
 
 bool Vehicle::guidedMode(void) const
@@ -3116,11 +3120,12 @@ void Vehicle::setGuidedMode(bool guidedMode)
 
 void Vehicle::emergencyStop(void)
 {
-    sendMavCommand(_defaultComponentId,
-                   MAV_CMD_COMPONENT_ARM_DISARM,
-                   true,        // show error if fails
-                   0.0f,
-                   21196.0f);  // Magic number for emergency stop
+    sendMavCommand(
+        _defaultComponentId,
+        MAV_CMD_COMPONENT_ARM_DISARM,
+        true,        // show error if fails
+        0.0f,
+        21196.0f);  // Magic number for emergency stop
 }
 
 void Vehicle::setCurrentMissionSequence(int seq)
@@ -3129,13 +3134,14 @@ void Vehicle::setCurrentMissionSequence(int seq)
         seq--;
     }
     mavlink_message_t msg;
-    mavlink_msg_mission_set_current_pack_chan(_mavlink->getSystemId(),
-                                              _mavlink->getComponentId(),
-                                              priorityLink()->mavlinkChannel(),
-                                              &msg,
-                                              id(),
-                                              _compID,
-                                              seq);
+    mavlink_msg_mission_set_current_pack_chan(
+        static_cast<uint8_t>(_mavlink->getSystemId()),
+        static_cast<uint8_t>(_mavlink->getComponentId()),
+        priorityLink()->mavlinkChannel(),
+        &msg,
+        static_cast<uint8_t>(id()),
+        _compID,
+        static_cast<uint8_t>(seq));
     sendMessageOnLink(priorityLink(), msg);
 }
 
@@ -3147,13 +3153,13 @@ void Vehicle::sendMavCommand(int component, MAV_CMD command, bool showError, flo
     entry.component = component;
     entry.command = command;
     entry.showError = showError;
-    entry.rgParam[0] = param1;
-    entry.rgParam[1] = param2;
-    entry.rgParam[2] = param3;
-    entry.rgParam[3] = param4;
-    entry.rgParam[4] = param5;
-    entry.rgParam[5] = param6;
-    entry.rgParam[6] = param7;
+    entry.rgParam[0] = static_cast<double>(param1);
+    entry.rgParam[1] = static_cast<double>(param2);
+    entry.rgParam[2] = static_cast<double>(param3);
+    entry.rgParam[3] = static_cast<double>(param4);
+    entry.rgParam[4] = static_cast<double>(param5);
+    entry.rgParam[5] = static_cast<double>(param6);
+    entry.rgParam[6] = static_cast<double>(param7);
 
     _mavCommandQueue.append(entry);
 
@@ -3172,13 +3178,13 @@ void Vehicle::sendMavCommandInt(int component, MAV_CMD command, MAV_FRAME frame,
     entry.command = command;
     entry.frame = frame;
     entry.showError = showError;
-    entry.rgParam[0] = param1;
-    entry.rgParam[1] = param2;
-    entry.rgParam[2] = param3;
-    entry.rgParam[3] = param4;
+    entry.rgParam[0] = static_cast<double>(param1);
+    entry.rgParam[1] = static_cast<double>(param2);
+    entry.rgParam[2] = static_cast<double>(param3);
+    entry.rgParam[3] = static_cast<double>(param4);
     entry.rgParam[4] = param5;
     entry.rgParam[5] = param6;
-    entry.rgParam[6] = param7;
+    entry.rgParam[6] = static_cast<double>(param7);
 
     _mavCommandQueue.append(entry);
 
@@ -3367,8 +3373,7 @@ void Vehicle::_handleCommandAck(mavlink_message_t& message)
     emit mavCommandResult(_id, message.compid, ack.command, ack.result, false /* noResponsefromVehicle */);
 
     if (showError) {
-        QString commandName = _toolbox->missionCommandTree()->friendlyName((MAV_CMD)ack.command);
-
+        QString commandName = _toolbox->missionCommandTree()->friendlyName(static_cast<MAV_CMD>(ack.command));
         switch (ack.result) {
         case MAV_RESULT_TEMPORARILY_REJECTED:
             qgcApp()->showMessage(tr("%1 command temporarily rejected").arg(commandName));
@@ -4016,6 +4021,7 @@ void Vehicle::gimbalPitchStep(int direction)
 void Vehicle::gimbalYawStep(int direction)
 {
     if(!_haveGimbalData) {
+        qDebug() << "Yaw:" << _curGinmbalYaw << direction << (_curGinmbalYaw + direction);
         double y = static_cast<double>(_curGinmbalYaw + direction);
         gimbalControlValue(static_cast<double>(_curGinmbalYaw), y);
     }

src/Vehicle/Vehicle.h

@@ -840,8 +840,8 @@ public:
 
     QGeoCoordinate homePosition(void);
 
-    bool armed(void) { return _armed; }
-    void setArmed(bool armed);
+    bool armed      () { return _armed; }
+    void setArmed   (bool armed);
 
     bool flightModeSetAvailable(void);
     QStringList flightModes(void);
@@ -1084,7 +1084,6 @@ public:
 
     void _setFlying(bool flying);
     void _setLanding(bool landing);
-    void setVtolInFwdFlight(bool vtolInFwdFlight);
     void _setHomePosition(QGeoCoordinate& homeCoord);
     void _setMaxProtoVersion (unsigned version);
 
@@ -1101,6 +1100,9 @@ public:
     qreal       gimbalYaw               () { return static_cast<qreal>(_curGinmbalYaw); }
     bool        gimbalData              () { return _haveGimbalData; }
 
+public slots:
+    void setVtolInFwdFlight             (bool vtolInFwdFlight);
+
 signals:
     void allLinksInactive(Vehicle* vehicle);
     void coordinateChanged(QGeoCoordinate coordinate);

src/VehicleSetup/JoystickConfigAdvanced.qml

@@ -103,6 +103,30 @@ Item {
                 }
             }
         }
+        //---------------------------------------------------------------------
+        //-- Enable Gimbal
+        QGCLabel {
+            text:               qsTr("Enable gimbal control (Experimental)")
+            visible:            advancedSettings.checked
+            Layout.alignment:   Qt.AlignVCenter
+        }
+        QGCCheckBox {
+            id:                 enabledGimbal
+            visible:            advancedSettings.checked
+            enabled:            _activeJoystick
+            onClicked:          _activeJoystick.gimbalEnabled = checked
+            Component.onCompleted: {
+                checked = _activeJoystick.gimbalEnabled
+            }
+            Connections {
+                target: joystickManager
+                onActiveJoystickChanged: {
+                    if(_activeJoystick) {
+                        enabledGimbal.checked = Qt.binding(function() { return _activeJoystick.gimbalEnabled })
+                    }
+                }
+            }
+        }
         //-----------------------------------------------------------------
         //-- Mode
         QGCLabel {

src/VehicleSetup/JoystickConfigCalibration.qml

@@ -96,7 +96,7 @@ Item {
                         width:      ScreenTools.defaultFontPixelWidth * 0.125
                         height:     parent.height * 0.2
                         color:      qgcPal.text
-                        visible:    controller.hasGimbal
+                        visible:    controller.hasGimbalPitch && _activeJoystick.gimbalEnabled
                         x:          (parent.width  * 0.5) - (width  * 0.5)
                         y:          (parent.height * 0.5) - (height * 0.5)
                     }
@@ -105,7 +105,7 @@ Item {
                         width:      parent.width * 0.035
                         height:     width
                         radius:     width * 0.5
-                        visible:    controller.hasGimbal
+                        visible:    controller.hasGimbalPitch && _activeJoystick.gimbalEnabled
                         x:          (parent.width  * controller.gimbalPositions[0]) - (width  * 0.5)
                         y:          (parent.height * controller.gimbalPositions[1]) - (height * 0.5)
                     }
@@ -115,7 +115,7 @@ Item {
                         width:      parent.width * 0.2
                         height:     ScreenTools.defaultFontPixelWidth * 0.125
                         color:      qgcPal.text
-                        visible:    controller.hasGimbal
+                        visible:    controller.hasGimbalYaw && _activeJoystick.gimbalEnabled
                         x:          (parent.width  * 0.5) - (width  * 0.5)
                         y:          (parent.height * 0.3) - (height * 0.5)
                     }
@@ -124,7 +124,7 @@ Item {
                         width:      parent.width * 0.035
                         height:     width
                         radius:     width * 0.5
-                        visible:    controller.hasGimbal
+                        visible:    controller.hasGimbalYaw && _activeJoystick.gimbalEnabled
                         x:          (parent.width  * controller.gimbalPositions[2]) - (width  * 0.5)
                         y:          (parent.height * controller.gimbalPositions[3]) - (height * 0.5)
                     }

src/VehicleSetup/JoystickConfigController.cc

@@ -12,8 +12,6 @@
 #include "JoystickManager.h"
 #include "QGCApplication.h"
 
-#include <QSettings>
-
 QGC_LOGGING_CATEGORY(JoystickConfigControllerLog, "JoystickConfigControllerLog")
 
 const int JoystickConfigController::_calCenterPoint =       0;
@@ -167,9 +165,14 @@ void JoystickConfigController::_advanceState()
 {
     _currentStep++;
     const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
-    while (state->channelID > _axisCount) {
-        _currentStep++;
-        state = _getStateMachineEntry(_currentStep);
+    //-- Handle Gimbal
+    if (state->channelID > _axisCount) {
+        //-- No channels for gimbal
+        _advanceState();
+    }
+    if((state->channelID == 4 || state->channelID == 5) && !_activeJoystick->gimbalEnabled()) {
+        //-- Gimbal disabled. Skip it.
+        _advanceState();
     }
     _setupCurrentState();
 }
@@ -220,7 +223,10 @@ void JoystickConfigController::_axisValueChanged(int axis, int value)
             // Track the axis count by keeping track of how many axes we see
             if (axis + 1 > static_cast<int>(_axisCount)) {
                 _axisCount = axis + 1;
-                emit hasGimbalChanged();
+                if(_axisCount > 4)
+                    emit hasGimbalPitchChanged();
+                if(_axisCount > 5)
+                    emit hasGimbalYawChanged();
             }
         }
         if (_currentStep != -1) {
@@ -631,8 +637,8 @@ void JoystickConfigController::_setStickPositions()
         _sticksYawRight     = stLeftStickRight;
         _sticksRollLeft     = stRightStickLeft;
         _sticksRollRight    = stRightStickRight;
-        _sticksPitchUp      = stLeftStickDown;
-        _sticksPitchDown    = stLeftStickUp;
+        _sticksPitchUp      = stLeftStickUp;
+        _sticksPitchDown    = stLeftStickDown;
         break;
     case 2:
         _sticksThrottleUp   = stLeftStickUp;
@@ -641,8 +647,8 @@ void JoystickConfigController::_setStickPositions()
         _sticksYawRight     = stLeftStickRight;
         _sticksRollLeft     = stRightStickLeft;
         _sticksRollRight    = stRightStickRight;
-        _sticksPitchUp      = stRightStickDown;
-        _sticksPitchDown    = stRightStickUp;
+        _sticksPitchUp      = stRightStickUp;
+        _sticksPitchDown    = stRightStickDown;
         break;
     case 3:
         _sticksThrottleUp   = stRightStickUp;
@@ -651,8 +657,8 @@ void JoystickConfigController::_setStickPositions()
         _sticksYawRight     = stRightStickRight;
         _sticksRollLeft     = stLeftStickLeft;
         _sticksRollRight    = stLeftStickRight;
-        _sticksPitchUp      = stLeftStickDown;
-        _sticksPitchDown    = stLeftStickUp;
+        _sticksPitchUp      = stLeftStickUp;
+        _sticksPitchDown    = stLeftStickDown;
         break;
     case 4:
         _sticksThrottleUp   = stLeftStickUp;
@@ -661,8 +667,8 @@ void JoystickConfigController::_setStickPositions()
         _sticksYawRight     = stRightStickRight;
         _sticksRollLeft     = stLeftStickLeft;
         _sticksRollRight    = stLeftStickRight;
-        _sticksPitchUp      = stRightStickDown;
-        _sticksPitchDown    = stRightStickUp;
+        _sticksPitchUp      = stRightStickUp;
+        _sticksPitchDown    = stRightStickDown;
         break;
     default:
         Q_ASSERT(false);
@@ -766,7 +772,8 @@ void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
         delete[] _axisRawValue;
         _axisCount = 0;
         _activeJoystick = nullptr;
-        emit hasGimbalChanged();
+        emit hasGimbalPitchChanged();
+        emit hasGimbalYawChanged();
     }
     
     if (joystick) {
@@ -781,7 +788,8 @@ void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
         _axisRawValue   = new int[_axisCount];
         _setInternalCalibrationValuesFromSettings();
         connect(_activeJoystick, &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged);
-        emit hasGimbalChanged();
+        emit hasGimbalPitchChanged();
+        emit hasGimbalYawChanged();
     }
 }
 

src/VehicleSetup/JoystickConfigController.h

@@ -46,7 +46,9 @@ public:
     Q_PROPERTY(bool yawAxisMapped               READ yawAxisMapped              NOTIFY yawAxisMappedChanged)
     Q_PROPERTY(bool throttleAxisMapped          READ throttleAxisMapped         NOTIFY throttleAxisMappedChanged)
 
-    Q_PROPERTY(bool hasGimbal                   READ hasGimbal                  NOTIFY hasGimbalChanged)
+    Q_PROPERTY(bool hasGimbalPitch              READ hasGimbalPitch             NOTIFY hasGimbalPitchChanged)
+    Q_PROPERTY(bool hasGimbalYaw                READ hasGimbalYaw               NOTIFY hasGimbalYawChanged)
+
     Q_PROPERTY(bool gimbalPitchAxisMapped       READ gimbalPitchAxisMapped      NOTIFY gimbalPitchAxisMappedChanged)
     Q_PROPERTY(bool gimbalYawAxisMapped         READ gimbalYawAxisMapped        NOTIFY gimbalYawAxisMappedChanged)
 
@@ -90,7 +92,8 @@ public:
     bool gimbalPitchAxisReversed            ();
     bool gimbalYawAxisReversed              ();
 
-    bool hasGimbal                          () { return _axisCount > 5; }
+    bool hasGimbalPitch                     () { return _axisCount > 4; }
+    bool hasGimbalYaw                       () { return _axisCount > 5; }
 
     bool getDeadbandToggle                  ();
     void setDeadbandToggle                  (bool);
@@ -136,7 +139,8 @@ signals:
     void skipEnabledChanged                 ();
     void stickPositionsChanged              ();
     void gimbalPositionsChanged             ();
-    void hasGimbalChanged                   ();
+    void hasGimbalPitchChanged              ();
+    void hasGimbalYawChanged                ();
     void statusTextChanged                  ();
 
     // @brief Signalled when in unit test mode and a message box should be displayed by the next button

src/VehicleSetup/JoystickConfigGeneral.qml

@@ -149,6 +149,7 @@ Item {
                     anchors.centerIn:   parent
                     QGCLabel {
                         text:               activeVehicle.sub ? qsTr("Lateral") : qsTr("Roll")
+                        Layout.minimumWidth: ScreenTools.defaultFontPixelWidth * 12
                     }
                     AxisMonitor {
                         id:                 rollAxis
@@ -156,10 +157,6 @@ Item {
                         width:              axisMonitorWidth
                         mapped:             controller.rollAxisMapped
                         reversed:           controller.rollAxisReversed
-                        Connections {
-                            target:             _activeJoystick
-                            onManualControl:    rollAxis.axisValue = roll * 32768.0
-                        }
                     }
 
                     QGCLabel {
@@ -173,10 +170,6 @@ Item {
                         width:              axisMonitorWidth
                         mapped:             controller.pitchAxisMapped
                         reversed:           controller.pitchAxisReversed
-                        Connections {
-                            target:             _activeJoystick
-                            onManualControl:    pitchAxis.axisValue = pitch * 32768.0
-                        }
                     }
 
                     QGCLabel {
@@ -190,10 +183,6 @@ Item {
                         width:              axisMonitorWidth
                         mapped:             controller.yawAxisMapped
                         reversed:           controller.yawAxisReversed
-                        Connections {
-                            target:             _activeJoystick
-                            onManualControl:    yawAxis.axisValue = yaw * 32768.0
-                        }
                     }
 
                     QGCLabel {
@@ -207,9 +196,15 @@ Item {
                         width:              axisMonitorWidth
                         mapped:             controller.throttleAxisMapped
                         reversed:           controller.throttleAxisReversed
-                        Connections {
-                            target:             _activeJoystick
-                            onManualControl:    throttleAxis.axisValue = _activeJoystick.negativeThrust ? throttle * -32768.0 : (-2 * throttle + 1) * 32768.0
+                    }
+
+                    Connections {
+                        target:             _activeJoystick
+                        onManualControl: {
+                            rollAxis.axisValue      = roll  * 32768.0
+                            pitchAxis.axisValue     = pitch * 32768.0
+                            yawAxis.axisValue       = yaw   * 32768.0
+                            throttleAxis.axisValue  = _activeJoystick.negativeThrust ? throttle * -32768.0 : (-2 * throttle + 1) * 32768.0
                         }
                     }
 
@@ -217,7 +212,7 @@ Item {
                         id:                 gimbalPitchLabel
                         width:              _attitudeLabelWidth
                         text:               qsTr("Gimbal Pitch")
-                        visible:            controller.hasGimbal
+                        visible:            controller.hasGimbalPitch && _activeJoystick.gimbalEnabled
                     }
                     AxisMonitor {
                         id:                 gimbalPitchAxis
@@ -225,18 +220,14 @@ Item {
                         width:              axisMonitorWidth
                         mapped:             controller.gimbalPitchAxisMapped
                         reversed:           controller.gimbalPitchAxisReversed
-                        visible:            controller.hasGimbal
-                        Connections {
-                            target:             _activeJoystick
-                            onManualControl:    gimbalPitchAxis.axisValue = gimbalPitch * 32768.0
-                        }
+                        visible:            controller.hasGimbalPitch && _activeJoystick.gimbalEnabled
                     }
 
                     QGCLabel {
                         id:                 gimbalYawLabel
                         width:              _attitudeLabelWidth
                         text:               qsTr("Gimbal Yaw")
-                        visible:            controller.hasGimbal
+                        visible:            controller.hasGimbalYaw && _activeJoystick.gimbalEnabled
                     }
                     AxisMonitor {
                         id:                 gimbalYawAxis
@@ -244,9 +235,14 @@ Item {
                         width:              axisMonitorWidth
                         mapped:             controller.gimbalYawAxisMapped
                         reversed:           controller.gimbalYawAxisReversed
-                        Connections {
-                            target:             _activeJoystick
-                            onManualControl:    gimbalYawAxis.axisValue = gimbalYaw * 32768.0
+                        visible:            controller.hasGimbalYaw && _activeJoystick.gimbalEnabled
+                    }
+
+                    Connections {
+                        target:             _activeJoystick
+                        onManualControlGimbal:  {
+                            gimbalPitchAxis.axisValue = gimbalPitch * 32768.0
+                            gimbalYawAxis.axisValue   = gimbalYaw   * 32768.0
                         }
                     }
                 }