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Joystick: Full support for manual control extensions #13915

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9 changes: 6 additions & 3 deletions src/AutoPilotPlugins/Common/RadioComponentController.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -16,15 +16,18 @@ RadioComponentController::RadioComponentController(QObject *parent)
// qCDebug(RadioComponentControllerLog) << Q_FUNC_INFO << this;

// Channels values are in PWM
_calValidMinValue = 1300;
_calValidMaxValue = 1700;
_calCenterPoint= ((_calValidMaxValue - _calValidMinValue) / 2.0f) + _calValidMinValue;

_calDefaultMinValue = 1000;
_calDefaultMaxValue = 2000;
_calCenterPoint= ((_calDefaultMaxValue - _calDefaultMinValue) / 2.0f) + _calDefaultMinValue;
_calRoughCenterDelta = 50;
_calMoveDelta = 300;
_calSettleDelta = 20;

int valueRange = _calDefaultMaxValue - _calDefaultMinValue;
_calValidMinValue = _calDefaultMinValue + (valueRange * 0.3f);
_calValidMaxValue = _calDefaultMaxValue - (valueRange * 0.3f);

// Deal with parameter differences between PX4 and Ardupilot
if (parameterExists(ParameterManager::defaultComponentId, QStringLiteral("RC1_REVERSED"))) {
// Newer ardupilot firmwares have a different reverse param naming scheme and value scheme
Expand Down
890 changes: 500 additions & 390 deletions src/Joystick/Joystick.cc
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81 changes: 51 additions & 30 deletions src/Joystick/Joystick.h
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Expand Up @@ -115,16 +115,30 @@ class Joystick : public QThread
int center = 0;
int deadband = 0;
bool reversed = false;

void reset() {
min = AxisMin;
max = AxisMax;
center = 0;
deadband = 0;
reversed = false;
}
};

enum AxisFunction_t {
rollFunction,
pitchFunction,
yawFunction,
throttleFunction,
gimbalPitchFunction,
gimbalYawFunction,
maxAxisFunction // If the value of this is changed, be sure to update JoystickAxis.SettingsGroup.json/stickFunction metadata
pitchExtensionFunction,
rollExtensionFunction,
aux1ExtensionFunction,
aux2ExtensionFunction,
aux3ExtensionFunction,
aux4ExtensionFunction,
aux5ExtensionFunction,
aux6ExtensionFunction,
maxAxisFunction
};
static QString axisFunctionToString(AxisFunction_t function);

Expand Down Expand Up @@ -297,8 +311,6 @@ class Joystick : public QThread
QString linkedGroupRole() const { return _linkedGroupRole; }
void setLinkedGroupRole(const QString &role);

void setFunctionAxis(AxisFunction_t function, int axis);
int getFunctionAxis(AxisFunction_t function) const;
void setAxisCalibration(int axis, const AxisCalibration_t &calibration);
Joystick::AxisCalibration_t getAxisCalibration(int axis) const;

Expand Down Expand Up @@ -365,9 +377,17 @@ class Joystick : public QThread
int _hatCount = 0;

private slots:
void _flightModesChanged() { _buildActionList(_pollingVehicle); }
void _flightModesChanged() { _buildAvailableButtonsActionList(_pollingVehicle); }

private:
enum PollingType {
NotPolling, ///< Not currrently polling
PollingForConfiguration, ///< Polling for configuration/calibration display
PollingForVehicle, ///< Normal polling for joystick output to Vehicle
};

using AxisFunctionMap_t = QMap<AxisFunction_t, int>;

virtual bool _open() = 0;
virtual void _close() = 0;
virtual bool _update() = 0;
Expand All @@ -378,12 +398,8 @@ private slots:

void run() override;

enum PollingType {
NotPolling, ///< Not currrently polling
PollingForConfiguration, ///< Polling for configuration/calibration display
PollingForVehicle, ///< Normal polling for joystick output to Vehicle
};
void _startPollingForVehicle(Vehicle &vehicle);
void _startPollingForActiveVehicle();
void _startPollingForConfiguration();
void _stopPollingForConfiguration();
void _stopAllPolling();
Expand All @@ -392,30 +408,40 @@ private slots:
PollingType _previousPollingType = NotPolling;
Vehicle* _pollingVehicle = nullptr;

void _resetFunctionToAxisMap();
void _resetAxisCalibrationData();
void _resetButtonActionData();
void _resetButtonEventStates();

void _foundInvalidAxisSettingsCleanup();

void _loadButtonSettings();
void _loadAxisSettings(bool calibrated, int transmitterMode);
void _saveButtonSettings();
void _saveAxisSettings(bool calibrated, int transmitterMode);
void _loadFromSettingsIntoCalibrationData();
void _saveFromCalibrationDataIntoSettings();
void _clearAxisSettings();
void _clearButtonSettings();

/// Adjust the raw axis value to the -1:1 range given calibration information
float _adjustRange(int value, const AxisCalibration_t &calibration, bool withDeadbands);
float _adjustRange(int reversedAxisValue, const AxisCalibration_t &calibration, bool withDeadbands);

void _executeButtonAction(const QString &action, const ButtonEvent_t buttonEvent);
int _findAvailableButtonActionIndex(const QString &action);
bool _validAxis(int axis) const;
bool _validButton(int button) const;
void _handleAxis();
void _handleButtons();
void _buildActionList(Vehicle *vehicle);
AxisFunction_t _getFunctionForAxis(int axis) const;
void _buildAvailableButtonsActionList(Vehicle *vehicle);
AxisFunction_t _getAxisFunctionForJoystickAxis(int joystickAxis) const;
int _getJoystickAxisForAxisFunction(AxisFunction_t axisFunction) const;
void _setJoystickAxisForAxisFunction(AxisFunction_t axisFunction, int axis);
void _updateButtonEventState(int buttonIndex, const bool buttonPressed, ButtonEvent_t &buttonEventState);
void _updateButtonEventStates(QVector<ButtonEvent_t> &buttonEventStates);
void _migrateLegacySettings();


/// Relative mappings of axis functions between different TX modes
int _mapFunctionMode(int mode, int function);

/// Remap current axis functions from current TX mode to new TX mode
void _remapAxes(int fromMode, int toMode, int (&newMapping)[maxAxisFunction]);
void _remapFunctionsInFunctionMapToNewTransmittedMode(int fromMode, int toMode);

int _hatButtonCount = 0;
int _totalButtonCount = 0;
Expand All @@ -424,9 +450,13 @@ private slots:
QVector<AssignedButtonAction*> _assignedButtonActions;
MavlinkActionManager *_mavlinkActionManager = nullptr;
QmlObjectListModel *_availableButtonActions = nullptr;

JoystickManager* _joystickManager = nullptr;
JoystickSettings _joystickSettings;

int _rgFunctionAxis[maxAxisFunction] = {};
AxisFunctionMap_t _axisFunctionToJoystickAxisMap; ///< Map from AxisFunction_t to axis index, kJoystickAxisNotAssigned if not assigned
static constexpr const int kJoystickAxisNotAssigned = -1;

QElapsedTimer _axisElapsedTimer;
QStringList _availableActionTitles;
std::atomic<bool> _exitThread = false; ///< true: signal thread to exit
Expand All @@ -435,15 +465,6 @@ private slots:
QString _linkedGroupId;
QString _linkedGroupRole;

static constexpr const char *_rgFunctionSettingsKey[maxAxisFunction] = {
"RollAxis",
"PitchAxis",
"YawAxis",
"ThrottleAxis",
"GimbalPitchAxis",
"GimbalYawAxis"
};

static constexpr const char *_buttonActionNone = QT_TR_NOOP("No Action");
static constexpr const char *_buttonActionArm = QT_TR_NOOP("Arm");
static constexpr const char *_buttonActionDisarm = QT_TR_NOOP("Disarm");
Expand Down
51 changes: 42 additions & 9 deletions src/Joystick/JoystickManager.cc
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Expand Up @@ -44,11 +44,13 @@ JoystickManager::JoystickManager(QObject *parent)
auto multiVehicleManager = MultiVehicleManager::instance();
auto activeVehicle = multiVehicleManager->activeVehicle();
if (activeVehicle && _activeJoystick) {
if (joystickEnabledForVehicle(activeVehicle)) {
_activeJoystick->_startPollingForVehicle(*activeVehicle);
if (_joystickEnabledForVehicle(activeVehicle)) {
_activeJoystick->_startPollingForActiveVehicle();
} else {
_activeJoystick->_stopAllPolling();
}
}
emit joystickEnabledChanged();
emit activeJoystickEnabledForActiveVehicleChanged();
});

(void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &JoystickManager::_activeVehicleChanged);
Expand Down Expand Up @@ -154,6 +156,23 @@ Joystick *JoystickManager::activeJoystick()
return _activeJoystick;
}

bool JoystickManager::activeJoystickEnabledForActiveVehicle() const
{
Vehicle *activeVehicle = MultiVehicleManager::instance()->activeVehicle();
if (!activeVehicle || !_activeJoystick) {
return false;
}
return _joystickEnabledForVehicle(activeVehicle);
}

void JoystickManager::setActiveJoystickEnabledForActiveVehicle(bool enabled)
{
Vehicle *activeVehicle = MultiVehicleManager::instance()->activeVehicle();
if (activeVehicle) {
_setJoystickEnabledForVehicle(activeVehicle, enabled);
}
}

void JoystickManager::_setActiveJoystick(Joystick *newActiveJoystick)
{
if (newActiveJoystick && !_name2JoystickMap.contains(newActiveJoystick->name())) {
Expand All @@ -165,6 +184,7 @@ void JoystickManager::_setActiveJoystick(Joystick *newActiveJoystick)
return;
}

// Cleanup old active joystick
if (_activeJoystick) {
_activeJoystick->_stopAllPolling();
_activeJoystick = nullptr;
Expand All @@ -179,11 +199,17 @@ void JoystickManager::_setActiveJoystick(Joystick *newActiveJoystick)
auto multiVehicleManager = MultiVehicleManager::instance();
auto activeVehicle = multiVehicleManager->activeVehicle();

if (activeVehicle && joystickEnabledForVehicle(activeVehicle)) {
_activeJoystick->_startPollingForVehicle(*activeVehicle);
if (activeVehicle) {
if (_activeJoystick->requiresCalibration() && _joystickEnabledForVehicle(activeVehicle)) {
qCWarning(JoystickManagerLog) << "Active joystick not calibrated but enabled, cannot start polling for active vehicle. Setting joystick for vehicle to disabled.";
setActiveJoystickEnabledForActiveVehicle(false);
} else if (_joystickEnabledForVehicle(activeVehicle)) {
_activeJoystick->_startPollingForActiveVehicle();
}
}

emit activeJoystickChanged(_activeJoystick);
emit activeJoystickEnabledForActiveVehicleChanged();
}
}

Expand All @@ -205,18 +231,25 @@ void JoystickManager::_activeVehicleChanged(Vehicle *activeVehicle)

_activeJoystick->_stopAllPolling();

if (activeVehicle && joystickEnabledForVehicle(activeVehicle)) {
_activeJoystick->_startPollingForVehicle(*activeVehicle);
if (activeVehicle && _joystickEnabledForVehicle(activeVehicle)) {
if (!_activeJoystick->settings()->calibrated()->rawValue().toBool()) {
qCWarning(JoystickManagerLog) << "Active joystick not calibrated but enabled, cannot start polling for active vehicle. Setting joystick to disabled.";
setActiveJoystickEnabledForActiveVehicle(false);
return;
}
_activeJoystick->_startPollingForActiveVehicle();
}

emit activeJoystickEnabledForActiveVehicleChanged();
}

bool JoystickManager::joystickEnabledForVehicle(Vehicle *vehicle) const
bool JoystickManager::_joystickEnabledForVehicle(Vehicle *vehicle) const
{
const QStringList vehicleIds = _joystickManagerSettings->joystickEnabledVehiclesIds()->rawValue().toString().split(",", Qt::SkipEmptyParts);
return vehicleIds.contains(QString::number(vehicle->id()));
}

void JoystickManager::setJoystickEnabledForVehicle(Vehicle *vehicle, bool enabled)
void JoystickManager::_setJoystickEnabledForVehicle(Vehicle *vehicle, bool enabled)
{
QStringList vehicleIds = _joystickManagerSettings->joystickEnabledVehiclesIds()->rawValue().toString().split(",", Qt::SkipEmptyParts);
const QString vehicleIdStr = QString::number(vehicle->id());
Expand Down
11 changes: 6 additions & 5 deletions src/Joystick/JoystickManager.h
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Expand Up @@ -23,8 +23,8 @@ class JoystickManager : public QObject
/// Note: The active joystick name may be not in this list if the joystick is not currently connected
Q_PROPERTY(QStringList availableJoystickNames READ availableJoystickNames NOTIFY availableJoystickNamesChanged)

/// Currently active joystick
Q_PROPERTY(Joystick *activeJoystick READ activeJoystick NOTIFY activeJoystickChanged)
Q_PROPERTY(bool activeJoystickEnabledForActiveVehicle READ activeJoystickEnabledForActiveVehicle WRITE setActiveJoystickEnabledForActiveVehicle NOTIFY activeJoystickEnabledForActiveVehicleChanged)

/// Number of connected joysticks
Q_PROPERTY(int joystickCount READ joystickCount NOTIFY availableJoystickNamesChanged)
Expand All @@ -41,9 +41,8 @@ class JoystickManager : public QObject
int joystickCount() const { return _name2JoystickMap.count(); }

Joystick *activeJoystick();

Q_INVOKABLE bool joystickEnabledForVehicle(Vehicle *vehicle) const;
Q_INVOKABLE void setJoystickEnabledForVehicle(Vehicle *vehicle, bool enabled);
bool activeJoystickEnabledForActiveVehicle() const;
void setActiveJoystickEnabledForActiveVehicle(bool enabled);

/// Get all joysticks in a linked group
/// Returns empty list if groupId is empty or no matches found
Expand All @@ -54,8 +53,8 @@ class JoystickManager : public QObject

signals:
void activeJoystickChanged(Joystick *joystick);
void activeJoystickEnabledForActiveVehicleChanged();
void availableJoystickNamesChanged();
void joystickEnabledChanged();

public slots:
void init();
Expand All @@ -76,6 +75,8 @@ private slots:
private:
void _setActiveJoystickFromSettings();
void _setActiveJoystick(Joystick *joystick);
bool _joystickEnabledForVehicle(Vehicle *vehicle) const;
void _setJoystickEnabledForVehicle(Vehicle *vehicle, bool enabled);
Joystick *_findJoystickByInstanceId(int instanceId);
void _updatePollingTimer();

Expand Down
54 changes: 48 additions & 6 deletions src/Settings/Joystick.SettingsGroup.json
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Expand Up @@ -62,12 +62,6 @@
"type": "bool",
"default": false
},
{
"name": "enableManualControlExtensions",
"shortDesc": "Enable manual control extensions",
"type": "bool",
"default": false
},
{
"name": "transmitterMode",
"shortDesc": "Transmitter mode (1-4)",
Expand All @@ -85,6 +79,54 @@
"max": 50,
"userMin": 0,
"userMax": 50
},
{
"name": "enableManualControlAux1",
"shortDesc": "Enable manual control for Aux 1",
"type": "bool",
"default": false
},
{
"name": "enableManualControlAux2",
"shortDesc": "Enable manual control for Aux 2",
"type": "bool",
"default": false
},
{
"name": "enableManualControlAux3",
"shortDesc": "Enable manual control for Aux 3",
"type": "bool",
"default": false
},
{
"name": "enableManualControlAux4",
"shortDesc": "Enable manual control for Aux 4",
"type": "bool",
"default": false
},
{
"name": "enableManualControlAux5",
"shortDesc": "Enable manual control for Aux 5",
"type": "bool",
"default": false
},
{
"name": "enableManualControlAux6",
"shortDesc": "Enable manual control for Aux 6",
"type": "bool",
"default": false
},
{
"name": "enableManualControlPitchExtension",
"shortDesc": "Enable manual control pitch extension",
"type": "bool",
"default": false
},
{
"name": "enableManualControlRollExtension",
"shortDesc": "Enable manual control roll extension",
"type": "bool",
"default": false
}
]
}
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