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improved joystick

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This commit is contained in:
Antoine Drouin
2009-07-27 01:35:22 +00:00
parent d97c793647
commit 3886e79b87
2 changed files with 17 additions and 10 deletions
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conf/messages.xml
+2 -2
View File
@@ -778,8 +778,8 @@
<field name="est_theta" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="est_psi" type="int32" alt_unit="degres" alt_unit_coef="0.0139882"/>
<field name="ref_phi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_theta" type="int32" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_psi" type="int32" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_theta" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="ref_psi" type="float" alt_unit="degres" alt_unit_coef="57.29578"/>
<field name="sum_err_phi" type="float"/>
<field name="sum_err_theta" type="float"/>
<field name="sum_err_psi" type="float"/>
sw/simulator/nps_radio_control.c
+15 -8
View File
@@ -90,21 +90,28 @@ static gboolean on_js_data_received(GIOChannel *source,
if (js.number < JS_NB_AXIS) {
switch (js.number) {
case JS_THROTTLE:
printf("joystick throttle %d\n",js.value); break;
nps_radio_control.throttle = ((float)js.value + 28000.)/56000.;
//printf("joystick throttle %d\n",js.value);
break;
case JS_ROLL:
printf("joystick roll %d\n",js.value); break;
nps_radio_control.roll = (float)js.value/-28000.;
//printf("joystick roll %d %f\n",js.value, nps_radio_control.roll);
break;
case JS_PITCH:
printf("joystick pitch %d\n",js.value); break;
nps_radio_control.pitch = (float)js.value/-28000.;
//printf("joystick pitch %d\n",js.value);
break;
case JS_YAW:
printf("joystick yaw %d\n",js.value); break;
nps_radio_control.yaw = (float)js.value/-28000.;
//printf("joystick yaw %d\n",js.value);
break;
case JS_MODE:
printf("joystick mode %d\n",js.value); break;
nps_radio_control.mode = (float)js.value/-32000.;
//printf("joystick mode %d\n",js.value);
break;
}
// booz_joystick_value[js.number] = (double)(js.value - booz_joystick_neutral[js.number]) /
// (booz_joystick_max[js.number] - booz_joystick_min[js.number]);
}
}
return TRUE;
}