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Code Issues Releases Activity

Added -1 -> +1 bounding to button control functions

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2206 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
andrew 2010-12-09 04:50:52 +00:00 committed by andrew
parent d218e18ded
commit 5f71795d67
2 changed files with 25 additions and 8 deletions
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31
ground/src/plugins/gcscontrol/gcscontrolgadget.cpp
View File

@ -200,41 +200,41 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
case 1://Roll case 1://Roll
if (buttonSettings[number].ActionID==1) if (buttonSettings[number].ActionID==1)
{//increase {//increase
obj->getField("Roll")->setValue(obj->getField("Roll")->getValue().toDouble()+buttonSettings[number].Amount); obj->getField("Roll")->setValue(bound(obj->getField("Roll")->getValue().toDouble()+buttonSettings[number].Amount));
} }
if (buttonSettings[number].ActionID==2) if (buttonSettings[number].ActionID==2)
{//decrease {//decrease
obj->getField("Roll")->setValue(obj->getField("Roll")->getValue().toDouble()-buttonSettings[number].Amount); obj->getField("Roll")->setValue(bound(obj->getField("Roll")->getValue().toDouble()-buttonSettings[number].Amount));
} }
break; break;
case 2://Pitch case 2://Pitch
if (buttonSettings[number].ActionID==1) if (buttonSettings[number].ActionID==1)
{//increase {//increase
obj->getField("Pitch")->setValue(obj->getField("Pitch")->getValue().toDouble()+buttonSettings[number].Amount); obj->getField("Pitch")->setValue(bound(obj->getField("Pitch")->getValue().toDouble()+buttonSettings[number].Amount));
} }
if (buttonSettings[number].ActionID==2) if (buttonSettings[number].ActionID==2)
{//decrease {//decrease
obj->getField("Pitch")->setValue(obj->getField("Pitch")->getValue().toDouble()-buttonSettings[number].Amount); obj->getField("Pitch")->setValue(bound(obj->getField("Pitch")->getValue().toDouble()-buttonSettings[number].Amount));
} }
break; break;
case 3://Yaw case 3://Yaw
if (buttonSettings[number].ActionID==1) if (buttonSettings[number].ActionID==1)
{//increase {//increase
obj->getField("Yaw")->setValue(obj->getField("Yaw")->getValue().toDouble()+buttonSettings[number].Amount); obj->getField("Yaw")->setValue(wrap(obj->getField("Yaw")->getValue().toDouble()+buttonSettings[number].Amount));
} }
if (buttonSettings[number].ActionID==2) if (buttonSettings[number].ActionID==2)
{//decrease {//decrease
obj->getField("Yaw")->setValue(obj->getField("Yaw")->getValue().toDouble()-buttonSettings[number].Amount); obj->getField("Yaw")->setValue(wrap(obj->getField("Yaw")->getValue().toDouble()-buttonSettings[number].Amount));
} }
break; break;
case 4://Throttle case 4://Throttle
if (buttonSettings[number].ActionID==1) if (buttonSettings[number].ActionID==1)
{//increase {//increase
obj->getField("Throttle")->setValue(obj->getField("Throttle")->getValue().toDouble()+buttonSettings[number].Amount); obj->getField("Throttle")->setValue(bound(obj->getField("Throttle")->getValue().toDouble()+buttonSettings[number].Amount));
} }
if (buttonSettings[number].ActionID==2) if (buttonSettings[number].ActionID==2)
{//decrease {//decrease
obj->getField("Throttle")->setValue(obj->getField("Throttle")->getValue().toDouble()-buttonSettings[number].Amount); obj->getField("Throttle")->setValue(bound(obj->getField("Throttle")->getValue().toDouble()-buttonSettings[number].Amount));
} }
break; break;
case 5://Armed case 5://Armed
@ -301,3 +301,18 @@ void GCSControlGadget::axesValues(QListInt16 values)
} }
} }
} }
double GCSControlGadget::bound(double input)
{
if (input > 1.0)return 1.0;
if (input <-1.0)return -1.0;
return input;
}
double GCSControlGadget::wrap(double input)
{
while (input > 1.0)input -= 2.0;
while (input <-1.0)input += 2.0;
return input;
}

2
ground/src/plugins/gcscontrol/gcscontrolgadget.h
View File

@ -69,6 +69,8 @@ private:
int throttleChannel; int throttleChannel;
int controlsMode; int controlsMode;
buttonSettingsStruct buttonSettings[8]; buttonSettingsStruct buttonSettings[8];
double bound(double input);
double wrap(double input);
signals: signals:
void sticksChangedRemotely(double leftX, double leftY, double rightX, double rightY); void sticksChangedRemotely(double leftX, double leftY, double rightX, double rightY);