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Read mode stick using axis read in simulation

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This commit is contained in:
Oleg Kalachev 2024-02-16 01:13:32 +03:00
parent bf803cf345
commit e0db3bee38
1 changed files with 5 additions and 7 deletions
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12
gazebo/joystick.h
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@ -8,15 +8,15 @@
#include <iostream>
// simulation calibration overrides, NOTE: use `cr` command and replace with the actual values
const int channelNeutralOverride[] = {-258, -258, -27349, 0, 0, 1};
const int channelMaxOverride[] = {27090, 27090, 27090, 27090, 0, 1};
const int channelNeutralOverride[] = {-258, -258, -27349, 0, 5417, 0};
const int channelMaxOverride[] = {27090, 27090, 27090, 27090, 27090, 1};
#define RC_CHANNEL_ROLL 0
#define RC_CHANNEL_PITCH 1
#define RC_CHANNEL_THROTTLE 2
#define RC_CHANNEL_YAW 3
#define RC_CHANNEL_ARMED 4
#define RC_CHANNEL_MODE 5
#define RC_CHANNEL_ARMED 5
#define RC_CHANNEL_MODE 4
SDL_Joystick *joystick;
bool joystickInitialized = false, warnShown = false;
@ -49,10 +49,8 @@ bool joystickGet() {
SDL_JoystickUpdate();
for (uint8_t i = 0; i < 4; i++) {
for (uint8_t i = 0; i < 8; i++) {
channels[i] = SDL_JoystickGetAxis(joystick, i);
}
channels[RC_CHANNEL_MODE] = SDL_JoystickGetButton(joystick, 0) ? 1 : 0;
controls[RC_CHANNEL_MODE] = channels[RC_CHANNEL_MODE];
return true;
}