Merge pull request #175 from jonathanFR/master

Add of joystick buttons values for manual control

src/input/JoystickInput.cc

@@ -101,7 +101,7 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
         tmp = dynamic_cast<UAS*>(this->uas);
         if(tmp)
         {
-            disconnect(this, SIGNAL(joystickChanged(double,double,double,double,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double)));
+            disconnect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int)));
             disconnect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int)));
         }
     }
@@ -110,7 +110,7 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
 
     tmp = dynamic_cast<UAS*>(this->uas);
     if(tmp) {
-        connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double)));
+        connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int)));
         connect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int)));
     }
     if (!isRunning())
@@ -163,7 +163,6 @@ void JoystickInput::init()
  */
 void JoystickInput::run()
 {
-
     init();
 
     forever
@@ -284,16 +283,16 @@ void JoystickInput::run()
 
         // Send new values to rest of groundstation
         emit hatDirectionChanged(xHat, yHat);
-        emit joystickChanged(y, x, yaw, thrust, xHat, yHat);
-
 
         // Display all buttons
+        int buttons = 0;
         for(int i = 0; i < SDL_JoystickNumButtons(joystick); i++)
         {
             //qDebug() << "BUTTON" << i << "is: " << SDL_JoystickGetAxis(joystick, i);
             if(SDL_JoystickGetButton(joystick, i))
             {
                 emit buttonPressed(i);
+                buttons |= 1 << i;
                 // Check if button is a UAS select button
 
                 if (uasButtonList.contains(i))
@@ -307,6 +306,7 @@ void JoystickInput::run()
             }
 
         }
+        emit joystickChanged(y, x, yaw, thrust, xHat, yHat, buttons);
 
         // Sleep, update rate of joystick is approx. 50 Hz (1000 ms / 50 = 20 ms)
         QGC::SLEEP::msleep(20);

src/input/JoystickInput.h

@@ -141,7 +141,7 @@ signals:
      * @param xHat hat vector in forward-backward direction, +1 forward, 0 center, -1 backward
      * @param yHat hat vector in left-right direction, -1 left, 0 center, +1 right
      */
-    void joystickChanged(double roll, double pitch, double yaw, double thrust, int xHat, int yHat);
+    void joystickChanged(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
 
     /**
      * @brief Thrust lever of the joystick has changed

src/uas/UAS.cc

@@ -2435,7 +2435,7 @@ void UAS::disarmSystem()
 * Set the manual control commands. 
 * This can only be done if the system has manual inputs enabled and is armed.
 */
-void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
+void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons)
 {
     // Scale values
     double rollPitchScaling = 1.0f * 1000.0f;

src/uas/UAS.h

@@ -566,7 +566,7 @@ public slots:
     void disarmSystem();
 
     /** @brief Set the values for the manual control of the vehicle */
-    void setManualControlCommands(double roll, double pitch, double yaw, double thrust);
+    void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
     /** @brief Receive a button pressed event from an input device, e.g. joystick */
     void receiveButton(int buttonIndex);