rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-27 16:54:15 +01:00
Code Issues Releases Activity

hid joystick: use linearly scaled channels

Browse Source 
Scales each channel only based on max and min calibrated values.
The neutral value is now ignored so the joystick sees a linear
range between min and max.

This is particularly useful to allow the full range of values for
throttle to be passed through to the joystick.
This commit is contained in:
Stacey Sheldon 2012-08-10 23:36:06 -04:00
parent 07fde38887
commit 49c153003c
3 changed files with 30 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
flight/Modules/ManualControl/manualcontrol.c
View File

@ -376,8 +376,10 @@ static void manualControlTask(void *parameters)
#if defined(PIOS_INCLUDE_USB_RCTX)
if (pios_usb_rctx_id) {
PIOS_USB_RCTX_Update(pios_usb_rctx_id,
scaledChannel,
NELEMENTS(scaledChannel));
cmd.Channel,
settings.ChannelMin,
settings.ChannelMax,
NELEMENTS(cmd.Channel));
}
#endif /* PIOS_INCLUDE_USB_RCTX */

31
flight/PiOS/STM32F10x/pios_usb_rctx.c
View File

@ -160,7 +160,7 @@ static void PIOS_USB_RCTX_EP_IN_Callback(void)
PIOS_USB_RCTX_SendReport(usb_rctx_dev);
}
void PIOS_USB_RCTX_Update(uint32_t usbrctx_id, const float channels[], uint8_t num_channels)
void PIOS_USB_RCTX_Update(uint32_t usbrctx_id, const uint16_t channel[], const int16_t channel_min[], const int16_t channel_max[], uint8_t num_channels)
{
struct pios_usb_rctx_dev * usb_rctx_dev = (struct pios_usb_rctx_dev *)usbrctx_id;
@ -174,11 +174,30 @@ void PIOS_USB_RCTX_Update(uint32_t usbrctx_id, const float channels[], uint8_t n
for (uint8_t i = 0;
i < PIOS_USB_RCTX_NUM_CHANNELS && i < num_channels;
i++) {
/*
* Scaled channels range from -1 to +1.
* Move them to the USB HID range of 0 to 65535.
*/
usb_rctx_dev->report.vals[i] = (uint16_t) (32767.0f + (channels[i] * 32767.0f));
int16_t min = channel_min[i];
int16_t max = channel_max[i];
uint16_t val = channel[i];
if (channel_min[i] > channel_max[i]) {
/* This channel is reversed, flip min and max */
min = channel_max[i];
max = channel_min[i];
/* and flip val to be an offset from the lower end of the range */
val = channel_min[i] - channel[i] + channel_max[i];
}
/* Scale channel linearly between min and max */
if (min == max) {
val = 0;
} else {
if (val < min) val = min;
if (val > max) val = max;
val = (val - min) * (65535 / (max - min));
}
usb_rctx_dev->report.vals[i] = val;
}
if (GetEPTxStatus(usb_rctx_dev->cfg->data_tx_ep) == EP_TX_VALID) {

3
flight/PiOS/inc/pios_usb_rctx.h
View File

@ -1,4 +1,3 @@
extern uint32_t pios_usb_rctx_id;
extern void PIOS_USB_RCTX_Update(uint32_t usbrctx_id, const float channels[], uint8_t num_channels);
extern void PIOS_USB_RCTX_Update(uint32_t usbrctx_id, const uint16_t channel[], const int16_t channel_min[], const int16_t channel_max[], uint8_t num_channels);