From 3886e79b878e22258c003acd67d0cc8c9aedcdc5 Mon Sep 17 00:00:00 2001
From: Antoine Drouin <poinix@gmail.com>
Date: Mon, 27 Jul 2009 01:35:22 +0000
Subject: [PATCH] improved joystick

---
 conf/messages.xml                |  4 ++--
 sw/simulator/nps_radio_control.c | 23 +++++++++++++++--------
 2 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/conf/messages.xml b/conf/messages.xml
index d10e63289b..82375b4e22 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -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"/>   
diff --git a/sw/simulator/nps_radio_control.c b/sw/simulator/nps_radio_control.c
index f8d81dbc2b..17ed75dde9 100644
--- a/sw/simulator/nps_radio_control.c
+++ b/sw/simulator/nps_radio_control.c
@@ -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;
 }