Map camera controls

Map gimbal controls
Keep track of gimbal position within Vehicle

src/Camera/QGCCameraManager.cc

@@ -378,15 +378,63 @@ QGCCameraManager::_activeJoystickChanged(Joystick* joystick)
 {
     qCDebug(CameraManagerLog) << "Joystick changed";
     if(_activeJoystick) {
-        disconnect(_activeJoystick, &Joystick::stepZoom,   this, &QGCCameraManager::_stepZoom);
-        disconnect(_activeJoystick, &Joystick::stepCamera, this, &QGCCameraManager::_stepCamera);
-        disconnect(_activeJoystick, &Joystick::stepStream, this, &QGCCameraManager::_stepStream);
+        disconnect(_activeJoystick, &Joystick::stepZoom,            this, &QGCCameraManager::_stepZoom);
+        disconnect(_activeJoystick, &Joystick::stepCamera,          this, &QGCCameraManager::_stepCamera);
+        disconnect(_activeJoystick, &Joystick::stepStream,          this, &QGCCameraManager::_stepStream);
+        disconnect(_activeJoystick, &Joystick::triggerCamera,       this, &QGCCameraManager::_triggerCamera);
+        disconnect(_activeJoystick, &Joystick::startVideoRecord,    this, &QGCCameraManager::_startVideoRecording);
+        disconnect(_activeJoystick, &Joystick::stopVideoRecord,     this, &QGCCameraManager::_stopVideoRecording);
+        disconnect(_activeJoystick, &Joystick::toggleVideoRecord,   this, &QGCCameraManager::_toggleVideoRecording);
     }
     _activeJoystick = joystick;
     if(_activeJoystick) {
-        connect(_activeJoystick, &Joystick::stepZoom,   this, &QGCCameraManager::_stepZoom);
-        connect(_activeJoystick, &Joystick::stepCamera, this, &QGCCameraManager::_stepCamera);
-        connect(_activeJoystick, &Joystick::stepStream, this, &QGCCameraManager::_stepStream);
+        connect(_activeJoystick, &Joystick::stepZoom,           this, &QGCCameraManager::_stepZoom);
+        connect(_activeJoystick, &Joystick::stepCamera,         this, &QGCCameraManager::_stepCamera);
+        connect(_activeJoystick, &Joystick::stepStream,         this, &QGCCameraManager::_stepStream);
+        connect(_activeJoystick, &Joystick::triggerCamera,      this, &QGCCameraManager::_triggerCamera);
+        connect(_activeJoystick, &Joystick::startVideoRecord,   this, &QGCCameraManager::_startVideoRecording);
+        connect(_activeJoystick, &Joystick::stopVideoRecord,    this, &QGCCameraManager::_stopVideoRecording);
+        connect(_activeJoystick, &Joystick::toggleVideoRecord,  this, &QGCCameraManager::_toggleVideoRecording);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_triggerCamera()
+{
+    QGCCameraControl* pCamera = currentCameraInstance();
+    if(pCamera) {
+        pCamera->takePhoto();
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_startVideoRecording()
+{
+    QGCCameraControl* pCamera = currentCameraInstance();
+    if(pCamera) {
+        pCamera->startVideo();
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_stopVideoRecording()
+{
+    QGCCameraControl* pCamera = currentCameraInstance();
+    if(pCamera) {
+        pCamera->stopVideo();
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_toggleVideoRecording()
+{
+    QGCCameraControl* pCamera = currentCameraInstance();
+    if(pCamera) {
+        pCamera->toggleVideo();
     }
 }
 

src/Camera/QGCCameraManager.h

@@ -60,6 +60,10 @@ protected slots:
     virtual void    _stepCamera             (int direction);
     virtual void    _stepStream             (int direction);
     virtual void    _cameraTimeout          ();
+    virtual void    _triggerCamera          ();
+    virtual void    _startVideoRecording    ();
+    virtual void    _stopVideoRecording     ();
+    virtual void    _toggleVideoRecording   ();
 
 protected:
     virtual QGCCameraControl* _findCamera   (int id);

src/Joystick/Joystick.cc

@@ -40,6 +40,7 @@ const char* Joystick::_submarineTXModeSettingsKey =     "TXMode_Submarine";
 
 const char* Joystick::_buttonActionArm =                QT_TR_NOOP("Arm");
 const char* Joystick::_buttonActionDisarm =             QT_TR_NOOP("Disarm");
+const char* Joystick::_buttonActionToggleArm =          QT_TR_NOOP("Toggle Arm");
 const char* Joystick::_buttonActionVTOLFixedWing =      QT_TR_NOOP("VTOL: Fixed Wing");
 const char* Joystick::_buttonActionVTOLMultiRotor =     QT_TR_NOOP("VTOL: Multi-Rotor");
 const char* Joystick::_buttonActionZoomIn =             QT_TR_NOOP("Zoom In");
@@ -52,6 +53,11 @@ const char* Joystick::_buttonActionTriggerCamera =      QT_TR_NOOP("Trigger Came
 const char* Joystick::_buttonActionStartVideoRecord =   QT_TR_NOOP("Start Recording Video");
 const char* Joystick::_buttonActionStopVideoRecord =    QT_TR_NOOP("Stop Recording Video");
 const char* Joystick::_buttonActionToggleVideoRecord =  QT_TR_NOOP("Toggle Recording Video");
+const char* Joystick::_buttonActionGimbalDown =         QT_TR_NOOP("Gimbal Down");
+const char* Joystick::_buttonActionGimbalUp =           QT_TR_NOOP("Gimbal Up");
+const char* Joystick::_buttonActionGimbalLeft =         QT_TR_NOOP("Gimbal Left");
+const char* Joystick::_buttonActionGimbalRight =        QT_TR_NOOP("Gimbal Right");
+const char* Joystick::_buttonActionGimbalCenter =       QT_TR_NOOP("Gimbal Center");
 
 const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
     "RollAxis",
@@ -482,9 +488,9 @@ void Joystick::run(void)
                 throttle =  std::max(-1.0f, std::min(tanf(asinf(throttle_limited)), 1.0f));
             }
 
-            if ( _exponential != 0 ) {
+            if ( _exponential < -0.01f) {
                 // Exponential (0% to -50% range like most RC radios)
-                //_exponential is set by a slider in joystickConfig.qml
+                //_exponential is set by a slider in joystickConfigAdvanced.qml
 
                 // Calculate new RPY with exponential applied
                 roll =      -_exponential*powf(roll, 3) + (1+_exponential)*roll;
@@ -507,7 +513,7 @@ void Joystick::run(void)
             quint16 buttonPressedBits   = 0;  // Buttons pressed for manualControl signal
 
             for (int buttonIndex = 0; buttonIndex < _totalButtonCount; buttonIndex++) {
-                quint16 buttonBit = 1 << buttonIndex;
+                quint16 buttonBit = static_cast<quint16>(1 << buttonIndex);
 
                 if (!_rgButtonValues[buttonIndex]) {
                     // Button up, just record it
@@ -528,9 +534,9 @@ void Joystick::run(void)
             }
 
             _lastButtonBits = newButtonBits;
-            qCDebug(JoystickValuesLog) << "name:roll:pitch:yaw:throttle" << name() << roll << -pitch << yaw << throttle;
+            qCDebug(JoystickValuesLog) << "name:roll:pitch:yaw:throttle:gimbalPitch:gimbalYaw" << name() << roll << -pitch << yaw << throttle << gimbalPitch << gimbalYaw;
             // NOTE: The buttonPressedBits going to MANUAL_CONTROL are currently used by ArduSub.
-            emit manualControl(roll, -pitch, yaw, throttle, gimbalPitch, gimbalYaw, buttonPressedBits, _activeVehicle->joystickMode());
+            emit manualControl(roll, -pitch, yaw, throttle, buttonPressedBits, _activeVehicle->joystickMode());
         }
 
         // Sleep. Update rate of joystick is by default 25 Hz
@@ -643,7 +649,7 @@ int Joystick::getFunctionAxis(AxisFunction_t function)
 QStringList Joystick::actions(void)
 {
     QStringList list;
-    list << _buttonActionArm << _buttonActionDisarm;
+    list << _buttonActionArm << _buttonActionDisarm << _buttonActionToggleArm;
     if (_activeVehicle) {
         list << _activeVehicle->flightModes();
     }
@@ -655,6 +661,11 @@ QStringList Joystick::actions(void)
     list << _buttonActionStartVideoRecord;
     list << _buttonActionStopVideoRecord;
     list << _buttonActionToggleVideoRecord;
+    list << _buttonActionGimbalDown;
+    list << _buttonActionGimbalUp;
+    list << _buttonActionGimbalLeft;
+    list << _buttonActionGimbalRight;
+    list << _buttonActionGimbalCenter;
     return list;
 }
 
@@ -808,6 +819,8 @@ void Joystick::_buttonAction(const QString& action)
         _activeVehicle->setArmed(true);
     } else if (action == _buttonActionDisarm) {
         _activeVehicle->setArmed(false);
+    } else if (action == _buttonActionToggleArm) {
+        _activeVehicle->setArmed(!_activeVehicle->armed());
     } else if (action == _buttonActionVTOLFixedWing) {
         _activeVehicle->setVtolInFwdFlight(true);
     } else if (action == _buttonActionVTOLMultiRotor) {
@@ -828,6 +841,16 @@ void Joystick::_buttonAction(const QString& action)
         emit stopVideoRecord();
     } else if(action == _buttonActionToggleVideoRecord) {
         emit toggleVideoRecord();
+    } else if(action == _buttonActionGimbalUp) {
+        _activeVehicle->gimbalPitchStep(1);
+    } else if(action == _buttonActionGimbalDown) {
+        _activeVehicle->gimbalPitchStep(-1);
+    } else if(action == _buttonActionGimbalLeft) {
+        _activeVehicle->gimbalYawStep(-1);
+    } else if(action == _buttonActionGimbalRight) {
+        _activeVehicle->gimbalYawStep(1);
+    } else if(action == _buttonActionGimbalCenter) {
+        _activeVehicle->centerGimbal();
     } else {
         qCDebug(JoystickLog) << "_buttonAction unknown action:" << action;
     }

src/Joystick/Joystick.h

@@ -161,10 +161,8 @@ signals:
     ///     @param pitch        Range i -1:1, negative meaning pitch down, positive meaning pitch up
     ///     @param yaw          Range is -1:1, negative meaning yaw left, positive meaning yaw right
     ///     @param throttle     Range is 0:1, 0 meaning no throttle, 1 meaning full throttle
-    ///     @param gimbalPitch  Range is -1:1
-    ///     @param gimbalYaw    Range is -1:1
     ///     @param mode     See Vehicle::JoystickMode_t enum
-    void manualControl      (float roll, float pitch, float yaw, float throttle, float gimbalPitch, float gimbalYaw, quint16 buttons, int joystickMmode);
+    void manualControl      (float roll, float pitch, float yaw, float throttle, quint16 buttons, int joystickMmode);
 
     void buttonActionTriggered(int action);
 
@@ -259,6 +257,7 @@ private:
 
     static const char* _buttonActionArm;
     static const char* _buttonActionDisarm;
+    static const char* _buttonActionToggleArm;
     static const char* _buttonActionVTOLFixedWing;
     static const char* _buttonActionVTOLMultiRotor;
     static const char* _buttonActionZoomIn;
@@ -271,6 +270,11 @@ private:
     static const char* _buttonActionStartVideoRecord;
     static const char* _buttonActionStopVideoRecord;
     static const char* _buttonActionToggleVideoRecord;
+    static const char* _buttonActionGimbalDown;
+    static const char* _buttonActionGimbalUp;
+    static const char* _buttonActionGimbalLeft;
+    static const char* _buttonActionGimbalRight;
+    static const char* _buttonActionGimbalCenter;
 
 private slots:
     void _activeVehicleChanged(Vehicle* activeVehicle);

src/Vehicle/Vehicle.cc

@@ -809,6 +809,9 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_PING:
         _handlePing(link, message);
         break;
+    case MAVLINK_MSG_ID_MOUNT_ORIENTATION:
+        _handleGimbalOrientation(message);
+        break;
 
     case MAVLINK_MSG_ID_SERIAL_CONTROL:
     {
@@ -2241,18 +2244,13 @@ void Vehicle::_loadSettings(void)
     if (!_active) {
         return;
     }
-
     QSettings settings;
-
     settings.beginGroup(QString(_settingsGroup).arg(_id));
-
     bool convertOk;
-
-    _joystickMode = (JoystickMode_t)settings.value(_joystickModeSettingsKey, JoystickModeRC).toInt(&convertOk);
+    _joystickMode = static_cast<JoystickMode_t>(settings.value(_joystickModeSettingsKey, JoystickModeRC).toInt(&convertOk));
     if (!convertOk) {
         _joystickMode = JoystickModeRC;
     }
-
     // Joystick enabled is a global setting so first make sure there are any joysticks connected
     if (_toolbox->joystickManager()->joysticks().count()) {
         setJoystickEnabled(settings.value(_joystickEnabledSettingsKey, false).toBool());
@@ -2741,7 +2739,7 @@ void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
     }
 }
 
-void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust, double gimbalPitch, double gimbalYaw)
+void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust)
 {
     // The following if statement prevents the virtualTabletJoystick from sending values if the standard joystick is enabled
     if ( !_joystickEnabled && !_highLatencyLink) {
@@ -2750,8 +2748,6 @@ void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw,
             static_cast<float>(pitch),
             static_cast<float>(yaw),
             static_cast<float>(thrust),
-            static_cast<float>(gimbalPitch),
-            static_cast<float>(gimbalYaw),
             0, JoystickModeRC);
     }
 }
@@ -4009,6 +4005,51 @@ void Vehicle::gimbalControlValue(double pitch, double yaw)
         MAV_MOUNT_MODE_MAVLINK_TARGETING);   // MAVLink Roll,Pitch,Yaw
 }
 
+void Vehicle::gimbalPitchStep(int direction)
+{
+    if(!_haveGimbalData) {
+        double p = static_cast<double>(_curGimbalPitch + direction);
+        gimbalControlValue(p, static_cast<double>(_curGinmbalYaw));
+    }
+}
+
+void Vehicle::gimbalYawStep(int direction)
+{
+    if(!_haveGimbalData) {
+        double y = static_cast<double>(_curGinmbalYaw + direction);
+        gimbalControlValue(static_cast<double>(_curGinmbalYaw), y);
+    }
+}
+
+void Vehicle::centerGimbal()
+{
+    if(!_haveGimbalData) {
+        gimbalControlValue(0.0, 0.0);
+    }
+}
+
+void Vehicle::_handleGimbalOrientation(const mavlink_message_t& message)
+{
+    mavlink_mount_orientation_t o;
+    mavlink_msg_mount_orientation_decode(&message, &o);
+    if(fabsf(_curGimbalRoll - o.roll) > 0.5f) {
+        _curGimbalRoll = o.roll;
+        emit gimbalRollChanged();
+    }
+    if(fabsf(_curGimbalPitch - o.pitch) > 0.5f) {
+        _curGimbalPitch = o.pitch;
+        emit gimbalPitchChanged();
+    }
+    if(fabsf(_curGinmbalYaw - o.yaw) > 0.5f) {
+        _curGinmbalYaw = o.yaw;
+        emit gimbalYawChanged();
+    }
+    if(!_haveGimbalData) {
+        _haveGimbalData = true;
+        emit gimbalDataChanged();
+    }
+}
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 

src/Vehicle/Vehicle.h

@@ -36,6 +36,7 @@ class UASMessage;
 class SettingsManager;
 class ADSBVehicle;
 class QGCCameraManager;
+class Joystick;
 #if defined(QGC_AIRMAP_ENABLED)
 class AirspaceVehicleManager;
 #endif
@@ -632,6 +633,10 @@ public:
     Q_PROPERTY(quint64              mavlinkReceivedCount    READ mavlinkReceivedCount                                   NOTIFY mavlinkStatusChanged)
     Q_PROPERTY(quint64              mavlinkLossCount        READ mavlinkLossCount                                       NOTIFY mavlinkStatusChanged)
     Q_PROPERTY(float                mavlinkLossPercent      READ mavlinkLossPercent                                     NOTIFY mavlinkStatusChanged)
+    Q_PROPERTY(qreal                gimbalRoll              READ gimbalRoll                                             NOTIFY gimbalRollChanged)
+    Q_PROPERTY(qreal                gimbalPitch             READ gimbalPitch                                            NOTIFY gimbalPitchChanged)
+    Q_PROPERTY(qreal                gimbalYaw               READ gimbalYaw                                              NOTIFY gimbalYawChanged)
+    Q_PROPERTY(bool                 gimbalData              READ gimbalData                                             NOTIFY gimbalDataChanged)
 
     // The following properties relate to Orbit status
     Q_PROPERTY(bool             orbitActive     READ orbitActive        NOTIFY orbitActiveChanged)
@@ -697,7 +702,7 @@ public:
     // Called when the message drop-down is invoked to clear current count
     Q_INVOKABLE void        resetMessages();
 
-    Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust, double gimbalPitch = 0, double gimbalYaw = 0);
+    Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
     Q_INVOKABLE void disconnectInactiveVehicle(void);
 
     /// Command vehicle to return to launch
@@ -761,7 +766,10 @@ public:
 
     Q_INVOKABLE void setPIDTuningTelemetryMode(bool pidTuning);
 
-    Q_INVOKABLE void gimbalControlValue(double pitch, double yaw);
+    Q_INVOKABLE void gimbalControlValue (double pitch, double yaw);
+    Q_INVOKABLE void gimbalPitchStep    (int direction);
+    Q_INVOKABLE void gimbalYawStep      (int direction);
+    Q_INVOKABLE void centerGimbal       ();
 
 #if !defined(NO_ARDUPILOT_DIALECT)
     Q_INVOKABLE void flashBootloader(void);
@@ -1088,6 +1096,11 @@ public:
     quint64     mavlinkLossCount        () { return _mavlinkLossCount; }        /// Total number of lost messages
     float       mavlinkLossPercent      () { return _mavlinkLossPercent; }      /// Running loss rate
 
+    qreal       gimbalRoll              () { return static_cast<qreal>(_curGimbalRoll);}
+    qreal       gimbalPitch             () { return static_cast<qreal>(_curGimbalPitch); }
+    qreal       gimbalYaw               () { return static_cast<qreal>(_curGinmbalYaw); }
+    bool        gimbalData              () { return _haveGimbalData; }
+
 signals:
     void allLinksInactive(Vehicle* vehicle);
     void coordinateChanged(QGeoCoordinate coordinate);
@@ -1192,8 +1205,13 @@ signals:
     void mavlinkSerialControl(uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, QByteArray data);
 
     // MAVLink protocol version
-    void requestProtocolVersion(unsigned version);
-    void mavlinkStatusChanged();
+    void requestProtocolVersion     (unsigned version);
+    void mavlinkStatusChanged       ();
+
+    void gimbalRollChanged          ();
+    void gimbalPitchChanged         ();
+    void gimbalYawChanged           ();
+    void gimbalDataChanged          ();
 
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
@@ -1235,8 +1253,9 @@ private slots:
     void _protocolVersionTimeOut(void);
 
 private:
-    bool _containsLink(LinkInterface* link);
-    void _addLink(LinkInterface* link);
+    bool _containsLink          (LinkInterface* link);
+    void _addLink               (LinkInterface* link);
+    void _joystickChanged       (Joystick* joystick);
     void _loadSettings(void);
     void _saveSettings(void);
     void _startJoystick(bool start);
@@ -1273,6 +1292,7 @@ private:
     void _handleStatusText(mavlink_message_t& message, bool longVersion);
     void _handleOrbitExecutionStatus(const mavlink_message_t& message);
     void _handleMessageInterval(const mavlink_message_t& message);
+    void _handleGimbalOrientation(const mavlink_message_t& message);
     // ArduPilot dialect messages
 #if !defined(NO_ARDUPILOT_DIALECT)
     void _handleCameraFeedback(const mavlink_message_t& message);
@@ -1456,6 +1476,12 @@ private:
     uint8_t             _compID;
     bool                _heardFrom;
 
+    float               _curGimbalRoll  = 0.0f;
+    float               _curGimbalPitch = 0.0f;
+    float               _curGinmbalYaw  = 0.0f;
+    bool                _haveGimbalData = false;
+    Joystick*           _activeJoystick = nullptr;
+
     int _firmwareMajorVersion;
     int _firmwareMinorVersion;
     int _firmwarePatchVersion;

src/VehicleSetup/JoystickConfigButtons.qml

@@ -68,7 +68,7 @@ Item {
                 }
                 QGCComboBox {
                     id:                         buttonActionCombo
-                    width:                      ScreenTools.defaultFontPixelWidth * 20
+                    width:                      ScreenTools.defaultFontPixelWidth * 26
                     model:                      _activeJoystick ? _activeJoystick.actions : 0
                     onActivated:                _activeJoystick.setButtonAction(modelData, textAt(index))
                     Component.onCompleted:      currentIndex = find(_activeJoystick.buttonActions[modelData])

src/VehicleSetup/JoystickConfigCalibration.qml

@@ -27,6 +27,10 @@ Item {
         id:                 calCol
         spacing:            ScreenTools.defaultFontPixelHeight
         anchors.centerIn:   parent
+        Item {
+            height:         1
+            width:          1
+        }
         Row {
             spacing:            ScreenTools.defaultFontPixelWidth * 4
             anchors.horizontalCenter: parent.horizontalCenter
@@ -131,10 +135,6 @@ Item {
             Column {
                 spacing:            ScreenTools.defaultFontPixelHeight * 0.5
                 anchors.verticalCenter: parent.verticalCenter
-                QGCLabel {
-                    text:           qsTr("Axis Monitor")
-                    anchors.horizontalCenter: parent.horizontalCenter
-                }
                 Connections {
                     target: controller
                     onAxisValueChanged: {

src/comm/MockLink.cc

@@ -509,7 +509,7 @@ void MockLink::_handleManualControl(const mavlink_message_t& msg)
     mavlink_manual_control_t manualControl;
     mavlink_msg_manual_control_decode(&msg, &manualControl);
 
-    qDebug() << "MANUAL_CONTROL" << manualControl.x << manualControl.y << manualControl.z << manualControl.r;
+    qCDebug(MockLinkLog) << "MANUAL_CONTROL" << manualControl.x << manualControl.y << manualControl.z << manualControl.r;
 }
 
 void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat)

src/uas/UAS.cc

@@ -839,12 +839,8 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
 * Set the manual control commands.
 * This can only be done if the system has manual inputs enabled and is armed.
 */
-void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, float gimbalPitch, float gimbalYaw, quint16 buttons, int joystickMode)
+void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode)
 {
-    //-- TODO
-    Q_UNUSED(gimbalPitch);
-    Q_UNUSED(gimbalYaw);
-
     if (!_vehicle) {
         return;
     }

src/uas/UAS.h

@@ -263,7 +263,7 @@ public slots:
 #endif
 
     /** @brief Set the values for the manual control of the vehicle */
-    void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, float gimbalPitch, float gimbalYaw, quint16 buttons, int joystickMode);
+    void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
 
     /** @brief Set the values for the 6dof manual control of the vehicle */
 #ifndef __mobile__