Reduced size of datatypes involved with JoystickInput class.

Most math and backend storage was floats anyways, so most of these changes just half the data copied during function calls without reducing precision.

src/input/JoystickInput.cc

@@ -272,7 +272,7 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
         tmp = dynamic_cast<UAS*>(this->uas);
         if(tmp)
         {
-            disconnect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int)));
+            disconnect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16)), tmp, SLOT(setManualControlCommands(float,float,float,float,qint8,qint8,quint16)));
             disconnect(this, SIGNAL(actionTriggered(int)), tmp, SLOT(triggerAction(int)));
         }
         uasCanReverse = false;
@@ -288,7 +288,7 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
 
     if (this->uas && (tmp = dynamic_cast<UAS*>(this->uas)))
     {
-        connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int)));
+        connect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16)), tmp, SLOT(setManualControlCommands(float,float,float,float,qint8,qint8,quint16)));
         connect(this, SIGNAL(actionTriggered(int)), tmp, SLOT(triggerAction(int)));
         uasCanReverse = tmp->systemCanReverse();
 
@@ -439,10 +439,10 @@ void JoystickInput::run()
 
         // Build up vectors describing the hat position
         int hatPosition = SDL_JoystickGetHat(joystick, 0);
-        int newYHat = 0;
+        qint8 newYHat = 0;
         if ((SDL_HAT_UP & hatPosition) > 0) newYHat = 1;
         if ((SDL_HAT_DOWN & hatPosition) > 0) newYHat = -1;
-        int newXHat = 0;
+        qint8 newXHat = 0;
         if ((SDL_HAT_LEFT & hatPosition) > 0) newXHat = -1;
         if ((SDL_HAT_RIGHT & hatPosition) > 0) newXHat = 1;
         if (newYHat != yHat || newXHat != xHat)

src/input/JoystickInput.h

@@ -205,7 +205,7 @@ protected:
     // Track the last state of the axes, buttons, and hats for only emitting change signals.
     QList<float> joystickAxes; ///< The values of every axes during the last sample.
     quint16 joystickButtons;   ///< The state of every button. Bitfield supporting 16 buttons with 1s indicating that the button is down.
-    int xHat, yHat;            ///< The horizontal/vertical hat directions. Values are -1, 0, 1, with (-1,-1) indicating bottom-left.
+    qint8 xHat, yHat;            ///< The horizontal/vertical hat directions. Values are -1, 0, 1, with (-1,-1) indicating bottom-left.
 
     /**
      * @brief Called before main run() event loop starts. Waits for joysticks to be connected.
@@ -224,7 +224,7 @@ 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 throttle, int xHat, int yHat, int buttons);
+    void joystickChanged(float roll, float pitch, float yaw, float throttle, qint8 xHat, qint8 yHat, quint16 buttons);
 
     /**
       * @brief Emit a new value for an axis
@@ -267,7 +267,7 @@ signals:
       * @param x vector in left-right direction
       * @param y vector in forward-backward direction
       */
-    void hatDirectionChanged(int x, int y);
+    void hatDirectionChanged(qint8 x, qint8 y);
 
     /** @brief Signal that the UAS has been updated for this JoystickInput
      * Note that any UI updates should NOT query this object for joystick details. That should be done in response to the joystickSettingsChanged signal.

src/uas/UAS.cc

@@ -2880,18 +2880,18 @@ 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::setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons)
+void UAS::setManualControlCommands(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons)
 {
     Q_UNUSED(xHat);
     Q_UNUSED(yHat);
 
     // Store the previous manual commands
-    static double manualRollAngle = 0.0;
-    static double manualPitchAngle = 0.0;
-    static double manualYawAngle = 0.0;
-    static double manualThrust = 0.0;
-    static int manualButtons = 0; //FIXME: Change buttons to a uint16_t, as it is defined by MAVLink
-    static int countSinceLastTransmission = 0; // Track how many calls to this function have occurred since the last MAVLink transmission
+    static float manualRollAngle = 0.0;
+    static float manualPitchAngle = 0.0;
+    static float manualYawAngle = 0.0;
+    static float manualThrust = 0.0;
+    static quint16 manualButtons = 0;
+    static quint8 countSinceLastTransmission = 0; // Track how many calls to this function have occurred since the last MAVLink transmission
 
     // We only transmit manual command messages if the system has manual inputs enabled and is armed
     if(((base_mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)) || (base_mode & MAV_MODE_FLAG_HIL_ENABLED))
@@ -2928,17 +2928,17 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
             manualButtons = buttons;
 
             // Store scaling values for all 3 axes
-            const double axesScaling = 1.0 * 1000.0;
+            const float axesScaling = 1.0 * 1000.0;
 
             // Calculate the new commands for roll, pitch, yaw, and thrust
-            const double newRollCommand = roll * axesScaling;
-            const double newPitchCommand = pitch * axesScaling;
-            const double newYawCommand = yaw * axesScaling;
-            const double newThrustCommand = thrust * axesScaling;
+            const float newRollCommand = roll * axesScaling;
+            const float newPitchCommand = pitch * axesScaling;
+            const float newYawCommand = yaw * axesScaling;
+            const float newThrustCommand = thrust * axesScaling;
 
             // Send the MANUAL_COMMAND message
             mavlink_message_t message;
-            mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)newPitchCommand, (float)newRollCommand, (float)newThrustCommand, (float)newYawCommand, buttons);
+            mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, newPitchCommand, newRollCommand, newThrustCommand, newYawCommand, buttons);
             sendMessage(message);
 
             // Emit an update in control values to other UI elements, like the HSI display

src/uas/UAS.h

@@ -838,7 +838,7 @@ public slots:
     void toggleAutonomy();
 
     /** @brief Set the values for the manual control of the vehicle */
-    void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
+    void setManualControlCommands(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons);
 
     /** @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);

src/uas/UASInterface.h

@@ -524,7 +524,7 @@ signals:
     void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
     void attitudeChanged(UASInterface*, int component, double roll, double pitch, double yaw, quint64 usec);
     void attitudeRotationRatesChanged(int uas, double rollrate, double pitchrate, double yawrate, quint64 usec);
-    void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
+    void attitudeThrustSetPointChanged(UASInterface*, float rollDesired, float pitchDesired, float yawDesired, float thrustDesired, quint64 usec);
     /** @brief The MAV set a new setpoint in the local (not body) NED X, Y, Z frame */
     void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
     /** @brief A user (or an autonomous mission or obstacle avoidance planner) requested to set a new setpoint */

src/ui/HSIDisplay.cc

@@ -921,7 +921,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
         disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
-        disconnect(this->uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
+        disconnect(this->uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,float,float,float,float,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,float,float,float,float,quint64)));
         disconnect(this->uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
         disconnect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
         disconnect(this->uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
@@ -957,8 +957,8 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
                 this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)),
                 this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)),
-                this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
+        connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,float,float,float,float,quint64)),
+                this, SLOT(updateAttitudeSetpoints(UASInterface*,float,float,float,float,quint64)));
         connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)),
                 this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
         connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)),
@@ -1100,7 +1100,7 @@ void HSIDisplay::sendBodySetPointCoordinates()
     }
 }
 
-void HSIDisplay::updateAttitudeSetpoints(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec)
+void HSIDisplay::updateAttitudeSetpoints(UASInterface* uas, float rollDesired, float pitchDesired, float yawDesired, float thrustDesired, quint64 usec)
 {
     Q_UNUSED(uas);
     Q_UNUSED(usec);

src/ui/HSIDisplay.h

@@ -55,7 +55,7 @@ public slots:
     /** @brief Set the width in meters this widget shows from top */
     void setMetricWidth(double width);
     void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used);
-    void updateAttitudeSetpoints(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
+    void updateAttitudeSetpoints(UASInterface*, float rollDesired, float pitchDesired, float yawDesired, float thrustDesired, quint64 usec);
     void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 time);
     void updateUserPositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired);
     void updatePositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);

src/ui/JoystickWidget.cc

@@ -25,7 +25,7 @@ JoystickWidget::JoystickWidget(JoystickInput* joystick, QWidget *parent) :
     connect(this->joystick, SIGNAL(buttonPressed(int)), this, SLOT(joystickButtonPressed(int)));
     connect(this->joystick, SIGNAL(buttonReleased(int)), this, SLOT(joystickButtonReleased(int)));
     connect(this->joystick, SIGNAL(axisValueChanged(int,float)), this, SLOT(updateAxisValue(int,float)));
-    connect(this->joystick, SIGNAL(hatDirectionChanged(int,int)), this, SLOT(setHat(int,int)));
+    connect(this->joystick, SIGNAL(hatDirectionChanged(qint8,qint8)), this, SLOT(setHat(qint8,qint8)));
 
     // Also watch for when new settings were loaded for the current joystick to do a mass UI refresh.
     connect(this->joystick, SIGNAL(joystickSettingsChanged()), this, SLOT(updateUI()));
@@ -238,7 +238,7 @@ void JoystickWidget::updateAxisValue(int axis, float value)
     }
 }
 
-void JoystickWidget::setHat(int x, int y)
+void JoystickWidget::setHat(qint8 x, qint8 y)
 {
     m_ui->statusLabel->setText(tr("Hat position: x: %1, y: %2").arg(x).arg(y));
 }

src/ui/JoystickWidget.h

@@ -65,7 +65,7 @@ public slots:
     /** @brief Update the UI with new values for the hat.
      *  @see JoystickInput::hatDirectionChanged
      */
-    void setHat(int x, int y);
+    void setHat(qint8 x, qint8 y);
     /** @brief Trigger a UI change based on a button being pressed */
     void joystickButtonPressed(int key);
     /** @brief Trigger a UI change based on a button being released */