Changed Joystick._exponential from bool to float. It can now be set between 0...

Changed Joystick._exponential from bool to float. It can now be set between 0 and -0.5 by user using a slider.

src/Joystick/Joystick.cc

@@ -55,7 +55,7 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     , _rgButtonValues(NULL)
     , _lastButtonBits(0)
     , _throttleMode(ThrottleModeCenterZero)
-    , _exponential(false)
+    , _exponential(0)
     , _accumulator(false)
     , _deadband(false)
     , _activeVehicle(NULL)
@@ -109,7 +109,7 @@ void Joystick::_setDefaultCalibration(void) {
     _rgFunctionAxis[yawFunction]        = 0;
     _rgFunctionAxis[throttleFunction]   = 1;
 
-    _exponential = false;
+    _exponential = 0;
     _accumulator = false;
     _deadband = false;
     _throttleMode = ThrottleModeCenterZero;
@@ -162,7 +162,7 @@ void Joystick::_loadSettings(void)
     qCDebug(JoystickLog) << "_loadSettings " << _name;
 
     _calibrated = settings.value(_calibratedSettingsKey, false).toBool();
-    _exponential = settings.value(_exponentialSettingsKey, false).toBool();
+    _exponential = settings.value(_exponentialSettingsKey, 0).toFloat();
     _accumulator = settings.value(_accumulatorSettingsKey, false).toBool();
     _deadband = settings.value(_deadbandSettingsKey, false).toBool();
 
@@ -443,16 +443,16 @@ void Joystick::run(void)
             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 ) {
+            if ( _exponential != 0 ) {
                 // Exponential (0% to -50% range like most RC radios)
                 // 0 for no exponential
                 // -0.5 for strong exponential
-                float expo = -0.35f;
+                //float expo = -0.35f;
 
                 // Calculate new RPY with exponential applied
-                roll =      -expo*powf(roll,3) + (1+expo)*roll;
-                pitch =     -expo*powf(pitch,3) + (1+expo)*pitch;
-                yaw =       -expo*powf(yaw,3) + (1+expo)*yaw;
+                roll =      -_exponential*powf(roll,3) + (1+_exponential)*roll;
+                pitch =     -_exponential*powf(pitch,3) + (1+_exponential)*pitch;
+                yaw =       -_exponential*powf(yaw,3) + (1+_exponential)*yaw;
             }
 
             // Adjust throttle to 0:1 range
@@ -682,12 +682,12 @@ void Joystick::setThrottleMode(int mode)
     emit throttleModeChanged(_throttleMode);
 }
 
-bool Joystick::exponential(void)
+float Joystick::exponential(void)
 {
     return _exponential;
 }
 
-void Joystick::setExponential(bool expo)
+void Joystick::setExponential(float expo)
 {
     _exponential = expo;
 

src/Joystick/Joystick.h

@@ -72,7 +72,7 @@ public:
     Q_INVOKABLE QString getButtonAction(int button);
 
     Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
-    Q_PROPERTY(bool exponential READ exponential WRITE setExponential NOTIFY exponentialChanged)
+    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)
     
@@ -106,8 +106,8 @@ public:
     int throttleMode(void);
     void setThrottleMode(int mode);
 
-    bool exponential(void);
-    void setExponential(bool expo);
+    float exponential(void);
+    void setExponential(float expo);
 
     bool accumulator(void);
     void setAccumulator(bool accu);
@@ -141,7 +141,7 @@ signals:
 
     void throttleModeChanged(int mode);
 
-    void exponentialChanged(bool exponential);
+    void exponentialChanged(float exponential);
 
     void accumulatorChanged(bool accumulator);
 
@@ -206,7 +206,7 @@ protected:
 
     ThrottleMode_t      _throttleMode;
 
-    bool                _exponential;
+    float                _exponential;
     bool                _accumulator;
     bool                _deadband;
 

src/VehicleSetup/JoystickConfig.qml

@@ -456,12 +456,23 @@ SetupPage {
                             Column {
                                 spacing: ScreenTools.defaultFontPixelHeight / 3
 
-                                QGCCheckBox {
+                                /*QGCCheckBox {
                                     id:         exponential
                                     checked:    _activeJoystick ? _activeJoystick.exponential : false
                                     text:       qsTr("Use exponential curve on roll, pitch, yaw")
 
                                     onClicked:  _activeJoystick.exponential = checked
+                                }*/
+                                QGCSlider {
+                                    id: expoSlider
+                                    value: -_activeJoystick.exponential
+                                    minimumValue: 0
+                                    maximumValue: 0.5
+                                    Binding {
+                                       target: _activeJoystick
+                                       property: "exponential"
+                                       value:-expoSlider.value
+                                    }
                                 }
                             }