Commit 91ac7955 authored by Patrick José Pereira's avatar Patrick José Pereira

Joystick: Add circle correction option

Some digital joysticks have already this correction
Add habilit to add or removecircle correction
Signed-off-by: 's avatarPatrick José Pereira <patrickelectric@gmail.com>
parent 719eec20
......@@ -25,6 +25,7 @@ const char* Joystick::_throttleModeSettingsKey = "ThrottleMode";
const char* Joystick::_exponentialSettingsKey = "Exponential";
const char* Joystick::_accumulatorSettingsKey = "Accumulator";
const char* Joystick::_deadbandSettingsKey = "Deadband";
const char* Joystick::_circleCorrectionSettingsKey = "Circle_Correction";
const char* Joystick::_txModeSettingsKey = NULL;
const char* Joystick::_fixedWingTXModeSettingsKey = "TXMode_FixedWing";
const char* Joystick::_multiRotorTXModeSettingsKey = "TXMode_MultiRotor";
......@@ -59,6 +60,7 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
, _exponential(0)
, _accumulator(false)
, _deadband(false)
, _circleCorrection(false)
, _activeVehicle(NULL)
, _pollingStartedForCalibration(false)
, _multiVehicleManager(multiVehicleManager)
......@@ -115,6 +117,7 @@ void Joystick::_setDefaultCalibration(void) {
_exponential = 0;
_accumulator = false;
_deadband = false;
_circleCorrection = false;
_throttleMode = ThrottleModeCenterZero;
_calibrated = true;
......@@ -179,6 +182,7 @@ void Joystick::_loadSettings(void)
_exponential = settings.value(_exponentialSettingsKey, 0).toFloat();
_accumulator = settings.value(_accumulatorSettingsKey, false).toBool();
_deadband = settings.value(_deadbandSettingsKey, false).toBool();
_circleCorrection = settings.value(_circleCorrectionSettingsKey, false).toBool();
_throttleMode = (ThrottleMode_t)settings.value(_throttleModeSettingsKey, ThrottleModeCenterZero).toInt(&convertOk);
badSettings |= !convertOk;
......@@ -255,9 +259,10 @@ void Joystick::_saveSettings(void)
settings.setValue(_exponentialSettingsKey, _exponential);
settings.setValue(_accumulatorSettingsKey, _accumulator);
settings.setValue(_deadbandSettingsKey, _deadband);
settings.setValue(_circleCorrectionSettingsKey, _circleCorrection);
settings.setValue(_throttleModeSettingsKey, _throttleMode);
qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode:deadband:txmode" << _calibrated << _throttleMode << _deadband << _transmitterMode;
qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode:deadband:txmode" << _calibrated << _throttleMode << _deadband << _circleCorrection << _transmitterMode;
QString minTpl ("Axis%1Min");
QString maxTpl ("Axis%1Max");
......@@ -453,6 +458,7 @@ void Joystick::run(void)
throttle = throttle_accu;
}
if ( _circleCorrection ) {
float roll_limited = std::max(static_cast<float>(-M_PI_4), std::min(roll, static_cast<float>(M_PI_4)));
float pitch_limited = std::max(static_cast<float>(-M_PI_4), std::min(pitch, static_cast<float>(M_PI_4)));
float yaw_limited = std::max(static_cast<float>(-M_PI_4), std::min(yaw, static_cast<float>(M_PI_4)));
......@@ -463,6 +469,7 @@ void Joystick::run(void)
pitch = std::max(-1.0f, std::min(tanf(asinf(pitch_limited)), 1.0f));
yaw = std::max(-1.0f, std::min(tanf(asinf(yaw_limited)), 1.0f));
throttle = std::max(-1.0f, std::min(tanf(asinf(throttle_limited)), 1.0f));
}
if ( _exponential != 0 ) {
// Exponential (0% to -50% range like most RC radios)
......@@ -757,6 +764,19 @@ void Joystick::setDeadband(bool deadband)
_saveSettings();
}
bool Joystick::circleCorrection(void)
{
return _circleCorrection;
}
void Joystick::setCircleCorrection(bool circleCorrection)
{
_circleCorrection = circleCorrection;
_saveSettings();
emit circleCorrectionChanged(_circleCorrection);
}
void Joystick::setCalibrationMode(bool calibrating)
{
_calibrationMode = calibrating;
......
......@@ -77,6 +77,7 @@ public:
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)
// Property accessors
......@@ -120,6 +121,9 @@ public:
bool deadband(void);
void setDeadband(bool accu);
bool circleCorrection(void);
void setCircleCorrection(bool circleCorrection);
void setTXMode(int mode);
int getTXMode(void) { return _transmitterMode; }
......@@ -147,6 +151,8 @@ signals:
void enabledChanged(bool enabled);
void circleCorrectionChanged(bool circleCorrection);
/// Signal containing new joystick information
/// @param roll Range is -1:1, negative meaning roll left, positive meaning roll right
/// @param pitch Range i -1:1, negative meaning pitch down, positive meaning pitch up
......@@ -213,6 +219,7 @@ protected:
float _exponential;
bool _accumulator;
bool _deadband;
bool _circleCorrection;
Vehicle* _activeVehicle;
bool _pollingStartedForCalibration;
......@@ -229,6 +236,7 @@ private:
static const char* _exponentialSettingsKey;
static const char* _accumulatorSettingsKey;
static const char* _deadbandSettingsKey;
static const char* _circleCorrectionSettingsKey;
static const char* _txModeSettingsKey;
static const char* _fixedWingTXModeSettingsKey;
static const char* _multiRotorTXModeSettingsKey;
......
......@@ -530,6 +530,22 @@ SetupPage {
}
}
Row {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
visible: advancedSettings.checked
QGCCheckBox {
id: joystickCircleCorrection
checked: _activeVehicle.joystickMode != 0
text: qsTr("Enable circle correction")
Component.onCompleted: checked = _activeJoystick.circleCorrection
onClicked: {
_activeJoystick.circleCorrection = checked
}
}
}
Row {
width: parent.width
spacing: ScreenTools.defaultFontPixelWidth
......
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