The joystick code now understands if a UAS can reverse or not (based on...

The joystick code now understands if a UAS can reverse or not (based on UASInterface::systemCanReverse) and scales the joystick input accordingly. This isn't ideal on auto-centering axes and so the limit-range code should be brought back as an option for the throttle channel.

src/input/JoystickInput.cc

@@ -29,6 +29,7 @@ JoystickInput::JoystickInput() :
     sdlJoystickMin(-32768.0f),
     sdlJoystickMax(32767.0f),
     uas(NULL),
+    uasCanReverse(false),
     done(false),
     rollAxis(-1),
     pitchAxis(-1),
@@ -100,6 +101,7 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
             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)));
         }
+        uasCanReverse = false;
     }
 
     this->uas = uas;
@@ -110,6 +112,8 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
         if(tmp) {
             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)));
+            uasCanReverse = tmp->systemCanReverse();
+            qDebug() << "Current system can reverse: " << uasCanReverse;
         }
     }
 }
@@ -153,8 +157,9 @@ void JoystickInput::init()
     // And attach to the first joystick found to start.
     setActiveJoystick(0);
 
-    // Make sure active UAS is set
+    // Make sure the active UAS is set and that we're tracking UAS changes.
     setActiveUAS(UASManager::instance()->getActiveUAS());
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
 }
 
 void JoystickInput::shutdown()
@@ -198,7 +203,14 @@ void JoystickInput::run()
                 axisValue = (axisValue - calibrationPositive[i]) / (calibrationNegative[i] - calibrationPositive[i]);
             }
             axisValue = 1.0f - axisValue;
-            axisValue = axisValue * 2.0f - 1.0f;
+
+            // Only map the throttle into [0:1] if the UAS can reverse.
+            if (uasCanReverse || throttleAxis != i)
+            {
+                axisValue = axisValue * 2.0f - 1.0f;
+            } else {
+                int a = 8;
+            }
 
             // Bound rounding errors
             if (axisValue > 1.0f) axisValue = 1.0f;

src/input/JoystickInput.h

@@ -139,7 +139,8 @@ protected:
     double calibrationPositive[10];
     double calibrationNegative[10];
     SDL_Joystick* joystick;
-    UASInterface* uas;
+    UASInterface* uas; ///< Track the current UAS.
+    bool uasCanReverse; ///< Track whether the connect UAS can drive a reverse speed.
     bool done;
 
     // Store the mapping between axis numbers and the roll/pitch/yaw/throttle configuration.

src/uas/UAS.cc

@@ -2694,6 +2694,41 @@ int UAS::getSystemType()
     return this->type;
 }
 
+/**
+ * @brief Returns true for systems that can reverse. If the system has no control over position, it returns false as well.
+ * @return If the specified vehicle type can
+ */
+//bool UAS::systemCanReverse() const
+//{
+//    switch(type)
+//    {
+//    case MAV_TYPE_GENERIC:
+//    case MAV_TYPE_FIXED_WING:
+//    case MAV_TYPE_ROCKET:
+//    case MAV_TYPE_FLAPPING_WING:
+
+//    // System types that don't have movement
+//    case MAV_TYPE_ANTENNA_TRACKER:
+//    case MAV_TYPE_GCS:
+//    case MAV_TYPE_FREE_BALLOON:
+//    default:
+//        return false;
+//        break;
+//    case MAV_TYPE_QUADROTOR:
+//    case MAV_TYPE_COAXIAL:
+//    case MAV_TYPE_HELICOPTER:
+//    case MAV_TYPE_AIRSHIP:
+//    case MAV_TYPE_GROUND_ROVER:
+//    case MAV_TYPE_SURFACE_BOAT:
+//    case MAV_TYPE_SUBMARINE:
+//    case MAV_TYPE_HEXAROTOR:
+//    case MAV_TYPE_OCTOROTOR:
+//    case MAV_TYPE_TRICOPTER:
+//        return true;
+//        break;
+//    }
+//}
+
 /**
 * @param buttonIndex
 */

src/ui/JoystickAxis.cc

 #include "JoystickAxis.h"
 #include "JoystickInput.h"
 #include "ui_JoystickAxis.h"
+#include "UASManager.h"
 #include <QString>
 
 JoystickAxis::JoystickAxis(int id, QWidget *parent) :
@@ -27,9 +28,22 @@ void JoystickAxis::setValue(float value)
 void JoystickAxis::mappingComboBoxChanged(int newMapping)
 {
     emit mappingChanged(id, (JoystickInput::JOYSTICK_INPUT_MAPPING)newMapping);
+    this->setActiveUAS(UASManager::instance()->getActiveUAS());
 }
 
 void JoystickAxis::inversionCheckBoxChanged(bool inverted)
 {
     emit inversionChanged(id, inverted);
 }
+
+void JoystickAxis::setActiveUAS(UASInterface* uas)
+{
+    if (uas && !uas->systemCanReverse() && ui->comboBox->currentIndex() == JoystickInput::JOYSTICK_INPUT_MAPPING_THROTTLE)
+    {
+        ui->progressBar->setRange(0, 100);
+    }
+    else
+    {
+        ui->progressBar->setRange(-100, 100);
+    }
+}

src/ui/JoystickAxis.h

@@ -27,6 +27,8 @@ public slots:
      * @param value A value between -1.0 and 1.0.
      */
     void setValue(float value);
+    /** @brief Specify the UAS that this axis should track for displaying throttle properly. */
+    void setActiveUAS(UASInterface* uas);
     
 private:
     int id; ///< The ID for this axis. Corresponds to the IDs used by JoystickInput.

src/ui/JoystickAxis.ui

@@ -121,6 +121,9 @@
      <property name="textDirection">
       <enum>QProgressBar::TopToBottom</enum>
      </property>
+     <property name="format">
+      <string>%v</string>
+     </property>
     </widget>
    </item>
    <item>

src/ui/JoystickWidget.cc

@@ -144,6 +144,7 @@ void JoystickWidget::updateUIForJoystick(int id)
             axis->setValue(joystick->getCurrentValueForAxis(i));
             connect(axis, SIGNAL(mappingChanged(int,JoystickInput::JOYSTICK_INPUT_MAPPING)), this->joystick, SLOT(setAxisMapping(int,JoystickInput::JOYSTICK_INPUT_MAPPING)));
             connect(axis, SIGNAL(inversionChanged(int,bool)), this->joystick, SLOT(setAxisInversion(int,bool)));
+            connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), axis, SLOT(setActiveUAS(UASInterface*)));
             m_ui->axesLayout->addWidget(axis);
             axes.append(axis);
         }

src/ui/QGCParamWidget.cc

@@ -55,7 +55,9 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
     loadSettings();
 
     // Load default values and tooltips
-    loadParameterInfoCSV(uas->getAutopilotTypeName(), uas->getSystemTypeName());
+    QString hey(uas->getAutopilotTypeName());
+    QString hey2(uas->getSystemTypeName());
+    loadParameterInfoCSV(hey, hey2);
 
     // Create tree widget
     tree = new QTreeWidget(this);