// Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix // Joystick support for simulation #include #include #include // 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}; #define RC_CHANNEL_ROLL 0 #define RC_CHANNEL_PITCH 1 #define RC_CHANNEL_THROTTLE 2 #define RC_CHANNEL_YAW 3 #define RC_CHANNEL_AUX 4 #define RC_CHANNEL_MODE 5 SDL_Joystick *joystick; bool joystickInitialized = false, warnShown = false; void normalizeRC(); void joystickInit() { SDL_Init(SDL_INIT_JOYSTICK); joystick = SDL_JoystickOpen(0); if (joystick != NULL) { joystickInitialized = true; gzmsg << "Joystick initialized: " << SDL_JoystickNameForIndex(0) << std::endl; } else if (!warnShown) { gzwarn << "Joystick not found, begin waiting for joystick..." << std::endl; warnShown = true; } // apply calibration overrides extern int channelNeutral[RC_CHANNELS]; extern int channelMax[RC_CHANNELS]; memcpy(channelNeutral, channelNeutralOverride, sizeof(channelNeutralOverride)); memcpy(channelMax, channelMaxOverride, sizeof(channelMaxOverride)); } void joystickGet() { if (!joystickInitialized) { joystickInit(); return; } SDL_JoystickUpdate(); for (uint8_t i = 0; i < 4; 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]; }