From e32820b41fb151fafbd2644eedbadde4ffcd736d Mon Sep 17 00:00:00 2001
From: HooperFly <info@hooperfly.com>
Date: Fri, 26 Aug 2016 01:36:47 -0700
Subject: [PATCH] Seed NES, SNES, and N64 game pad configurations for use in
 NAV/GUIDED modes (#1850)

---
 conf/joystick/n64_gamepad.xml  | 163 +++++++++++++++++++++++++++++++++
 conf/joystick/nes_gamepad.xml  | 121 ++++++++++++++++++++++++
 conf/joystick/snes_gamepad.xml | 129 ++++++++++++++++++++++++++
 3 files changed, 413 insertions(+)
 create mode 100644 conf/joystick/n64_gamepad.xml
 create mode 100644 conf/joystick/nes_gamepad.xml
 create mode 100644 conf/joystick/snes_gamepad.xml

diff --git a/conf/joystick/n64_gamepad.xml b/conf/joystick/n64_gamepad.xml
new file mode 100644
index 0000000000..082045c46e
--- /dev/null
+++ b/conf/joystick/n64_gamepad.xml
@@ -0,0 +1,163 @@
+<!-- N64 gamepad
+
+Support for guided mode flight using N64 and N64-clones that comply to the following axes/button mappings.
+
+                                      | |
+                                  _,.-'-'-.,_
+                           ______|           |______
+                        ,-'      |  NINTENDO |      `-.
+                      ,'   _                          `.
+                     /   _| |_                     (^)   \
+                     |  |_   _|                  (<)C(>) |
+                     \    |_|         (S)     (B)  (v)   /
+                     |`.              ___       (A)    ,'|
+                     |  `-.______   ,' _ `.   ______,-'  |
+                     |      |    `. | (_) | ,'    |      |
+                     |      |      \`.___,'/      |      |
+                     |      !      |       |      |      |
+                     |      /      |       |      \      !
+                     \     /       |       |       \     /
+                      `._,'        \       /        `._,'
+                                    \     /
+                                     `._,'
+
+
+AXES - 5 axes of which only 2 axes are used: (light grey - joystick)
+
+  axis 0: Roll  - Left/Right   range:(-127..126); midpoint:(0)
+  axis 1: Pitch - Forward/Back range:(-127..126); midpoint:(0)
+
+BUTTONS - 12 buttons of which only 10 are used:
+
+  b0 - Cu (yellow)
+  b1 - Cr (yellow)
+  b2 - Cd (yellow)
+  b3 - Cl (yellow)
+  b4 - B  (green)
+  b5 - A  (blue)
+  b6 - L  (dark grey - left shoulder)
+  b7 - R  (dark grey - right shoulder)
+  b8 - select (grey - trigger)
+  b9 - start (red)
+
+HATS: It has 1 hat: (dark grey )
+
+  h0(c) - centered 0x00
+  h0(u) - up       0x01
+  h0(r) - right    0x02
+  h0(d) - down     0x04
+  h0(l) - left     0x08
+
+  Combination presses represented by the logical &'ing of adjacent directions:
+
+    h0(r) & h0(u) - right & up   = 0x03
+    h0(r) & h0(d) - right & down = 0x06
+    h0(l) & h0(u) - left & up    = 0x09
+    h0(l) & h0(d) - left & down  = 0x12
+
+  You can use the Hat<Position>(<hat_name>) functions to trigger events,
+  where <Position> is one of:
+    Centered | Up | Right | Down | Left | RightUp | RightDown | LeftUp | LeftDown
+
+  Examples:
+    HatUp(hat_name)
+    HatDown(hat_name)
+    HatRightDown(hat_name)
+
+
+TEST STICK DATA OUTPUT:
+
+  $ ./sw/ground_segment/joystick/test_stick
+
+  Available button: 12 (0xc)
+  Available hats: 1 (0x1)
+  Available axes: 5 (0x5)
+  Axis 0 : parameters = [-32768,32768]
+  Axis 1 : parameters = [-32768,32768]
+  Axis 2 : parameters = [-32768,32768]
+  Axis 3 : parameters = [-32768,32768]
+  Axis 4 : parameters = [-32768,32768]
+  Input device name: "Generic   USB  Joystick  " on SDL device "0"
+  buttons 0 0 0 0 0 0 0 0 0 0 0 0 | hat 0 | axes 0 0 1 0 0 
+  buttons 0 0 0 0 0 0 0 0 0 0 0 0 | hat 0 | axes 0 0 1 0 0 
+  buttons 0 0 0 0 0 0 0 0 0 0 0 0 | hat 0 | axes 0 0 1 0 0
+  ... 
+
+
+-->
+
+<joystick>
+  <input>
+
+    <axis   index="0" name="roll"/>
+    <axis   index="1" name="pitch"/>
+
+    <button index="0" name="Cu"/>
+    <button index="1" name="Cr"/>
+    <button index="2" name="Cd"/>
+    <button index="3" name="Cl"/>
+    <button index="4" name="B"/>
+    <button index="5" name="A"/>
+    <button index="6" name="L"/>
+    <button index="7" name="R"/>
+    <button index="8" name="select"/>
+    <button index="9" name="start"/>
+
+    <hat    index="0" name="hat"/>
+
+  </input>
+
+  <variables>
+
+    <!-- TBD: NOT USED AT THIS POINT -->
+    <var name="mode"    default="2"/>
+
+  </variables>
+
+  <messages period="0.05">
+
+    <!-- Move at Body Velocity : forward/right/down/yaw -->
+    <message class="datalink" name="GUIDED_SETPOINT_NED" send_always="true">
+      <field name="flags" value="226"/>       <!-- 0xE2 -->
+      <field name="x"     value="Fit(pitch,-100,100,-127,127)"/>
+      <field name="y"     value="Fit(-roll,-100,100,-127,127)"/>
+      <field name="z"     value="0 - A + B"/>
+      <field name="yaw"   value="0 + R - L"/>
+    </message>
+
+    <!-- Set NAV Mode -->
+    <message class="ground" name="DL_SETTING" on_event="select && A">
+      <field name="index" value="IndexOfSetting('autopilot_mode_auto2')"/>
+      <field name="value" value="13"/>
+    </message>
+
+    <!-- Set GUIDED Mode -->
+    <message class="ground" name="DL_SETTING" on_event="select && B">
+      <field name="index" value="IndexOfSetting('autopilot_mode_auto2')"/>
+      <field name="value" value="19"/>
+    </message>
+
+    <!-- go to "Start Engine" block if in AUTO2/NAV -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="start && A">
+      <field name="block_id" value="IndexOfBlock('Start Motors')"/>
+    </message>
+
+    <!-- go to "Takeoff" block if in AUTO2/NAV -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="start && B">
+      <field name="block_id" value="IndexOfBlock('Takeoff')"/>
+    </message>
+
+    <!-- go to "land here" block if in AUTO2/NAV -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="A && B">
+      <field name="block_id" value="IndexOfBlock('land')"/>
+    </message>
+
+    <!-- Set "kill_throttle" in AUTO2/NAV -->
+    <message class="ground" name="DL_SETTING" on_event="select && start">
+      <field name="index" value="IndexOfSetting(kill_throttle)"/>
+      <field name="value" value="2"/>
+    </message>
+
+  </messages>
+
+</joystick>
diff --git a/conf/joystick/nes_gamepad.xml b/conf/joystick/nes_gamepad.xml
new file mode 100644
index 0000000000..61f21e5543
--- /dev/null
+++ b/conf/joystick/nes_gamepad.xml
@@ -0,0 +1,121 @@
+<!-- NES gamepad
+
+Support for NAV/GUIDED mode flight using NES and NES-clones that comply to the following axes/button mappings.
+
+                             | |
+             ________________|_|__________________________________
+            |  _________________________________________________  |
+            | |                 |_____________|                 | |
+            | |       ___       ,-------------.                 | |
+            | |      |   |      |_____________|    Nintendo     | |
+            | |   ___|   |___   ,-------------.                 | |
+            | |  |    ,-.    |  |SELECT  START|   ___B  ___A    | |
+            | |  |___ `-' ___|  ;=============`  |,-.| |,-.|    | |
+            | |      |   |      |  ===   ===  |  |._,| |._,|    | |
+            | |      |___|      ;=============.  '---' '---'    | |
+            | |_________________|_____________|_________________| |
+            |_____________________________________________________|
+
+
+AXES - 2 axes: (black)
+
+  axis 0: Roll  - Left/Right   range:(-127..126); center:(-1)
+  axis 1: Pitch - Forward/Back range:(-127..126); center:(-1)
+
+
+BUTTONS - 11 buttons of which only 4 are used:
+
+  b0 - A (red)           values:(0 | 1)
+  b1 - B (red)           values:(0 | 1)
+  b8 - select (black)    values:(0 | 1)
+  b9 - start (black)     values:(0 | 1)
+
+
+TEST STICK DATA OUTPUT:
+
+  $ ./sw/ground_segment/joystick/test_stick
+
+  Available button: 11 (0xb)
+  Available hats: 0 (0x0)
+  Available axes: 2 (0x2)
+  Axis 0 : parameters = [-32768,32768]
+  Axis 1 : parameters = [-32768,32768]
+  Input device name: "2Axes 11Keys Game  Pad" on SDL device "0"
+  buttons 0 0 0 0 0 0 0 0 0 0 0 | hat 0 | axes -1 -1 
+  buttons 0 0 0 0 0 0 0 0 0 0 0 | hat 0 | axes -1 -1 
+  buttons 0 0 0 0 0 0 0 0 0 0 0 | hat 0 | axes -1 -1
+  ...
+   
+
+-->
+
+<joystick>
+
+  <input>
+
+    <axis   index="0" name="roll"  trim="1.0"/>
+    <axis   index="1" name="pitch" trim="1.0"/>
+
+    <button index="0" name="A"/>
+    <button index="1" name="B"/>
+    <button index="8" name="select"/>
+    <button index="9" name="start"/>
+
+  </input>
+
+
+  <variables>
+
+    <!-- TBD: NOT USED AT THIS POINT -->
+    <var name="mode"    default="2"/>
+
+  </variables>
+
+
+  <messages period="0.05">
+
+    <!-- Move at Body Velocity : forward/right/down/yaw -->
+    <message class="datalink" name="GUIDED_SETPOINT_NED" send_always="true">
+      <field name="flags" value="226"/>       <!-- 0xE2 -->
+      <field name="x"     value="Fit(pitch,-100,100,-127,127)"/>
+      <field name="y"     value="Fit(-roll,-100,100,-127,127)"/>
+      <field name="z"     value="0 - A + B"/>
+      <field name="yaw"   value="0 + start - select"/>
+    </message>
+
+    <!-- Set NAV Mode -->
+    <message class="ground" name="DL_SETTING" on_event="select && A">
+      <field name="index" value="IndexOfSetting('autopilot_mode_auto2')"/>
+      <field name="value" value="13"/>
+    </message>
+
+    <!-- Set GUIDED Mode -->
+    <message class="ground" name="DL_SETTING" on_event="select && B">
+      <field name="index" value="IndexOfSetting('autopilot_mode_auto2')"/>
+      <field name="value" value="19"/>
+    </message>
+
+    <!-- go to "Start Engine" block if in AUTO2/NAV -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="start && A">
+      <field name="block_id" value="IndexOfBlock('Start Motors')"/>
+    </message>
+
+    <!-- go to "Takeoff" block if in AUTO2/NAV -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="start && B">
+      <field name="block_id" value="IndexOfBlock('Takeoff')"/>
+    </message>
+
+    <!-- go to "land here" block if in AUTO2/NAV -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="A && B">
+      <field name="block_id" value="IndexOfBlock('land')"/>
+    </message>
+
+    <!-- Set "kill_throttle" in AUTO2/NAV -->
+    <message class="ground" name="DL_SETTING" on_event="select && start">
+      <field name="index" value="IndexOfSetting(kill_throttle)"/>
+      <field name="value" value="2"/>
+    </message>
+
+  </messages>
+
+</joystick>
diff --git a/conf/joystick/snes_gamepad.xml b/conf/joystick/snes_gamepad.xml
new file mode 100644
index 0000000000..18733adc3a
--- /dev/null
+++ b/conf/joystick/snes_gamepad.xml
@@ -0,0 +1,129 @@
+<!-- SNES gamepad
+
+Support for NAV/GUIDED mode flight using SNES and SNES-clones that comply to the following axes/button mappings.
+
+
+           L __                      | |                        __ R
+               \  ___________________|_|_____________________  /
+              _,-'                                      ____ '-._
+            ,'             S U P E R  N I T E N D O _,-'    `-._ `.
+          ,'       ___     -ENTERTAINMENT SYSTEM- ,'     __ X   `. `.
+         /        |   |                          /      /  \      \  \
+        /      ___|   |___                      /   __  \__/  __ A \  \
+        |     |           |        ,.       ,.  |  /  \      /  \   | !
+        !     |___     ___|      ,','     ,','  |  \__/  __  \__/   | |
+        \         |   |         ','      '.'    \ Y     /  \       /  /
+         \        |___|         SELECT   START   \      \__/      /  /
+          `.                  ___________________ `._  B       _,' ,'
+            `-._          _.'`                   `-._`'~-.,-~'`_.'`
+                `'~-.,-~'`                           `'~-.,-~'`
+
+
+AXES - 2 axes: (dark grey)
+
+  axis 0: Roll  - Left/Right   range:(-127..126);  center:(-1)
+  axis 1: Pitch - Forward/Back range(-127..126);   center:(-1)
+
+
+BUTTONS - 11 buttons of which only 8 are used:
+
+  b0 - X (light purple)           values:(0 | 1)
+  b1 - A (purple)                 values:(0 | 1)
+  b2 - B (purple)                 values:(0 | 1)
+  b3 - Y (light purple)           values:(0 | 1)
+  b4 - L (grey - left shoulder)   values:(0 | 1)
+  b5 - R (grey - right soulder)   values:(0 | 1)
+  b8 - select (dark grey)         values:(0 | 1)
+  b9 - start (dark grey)          values:(0 | 1)
+
+
+TEST STICK DATA OUTPUT:
+
+  $ ./sw/ground_segment/joystick/test_stick
+
+  Available button: 11 (0xb)
+  Available hats: 0 (0x0)
+  Available axes: 2 (0x2)
+  Axis 0 : parameters = [-32768,32768]
+  Axis 1 : parameters = [-32768,32768]
+  Input device name: "2Axes 11Keys Game  Pad" on SDL device "0"
+  buttons 0 0 0 0 0 0 0 0 0 0 0 | hat 0 | axes -1 -1 
+  buttons 0 0 0 0 0 0 0 0 0 0 0 | hat 0 | axes -1 -1 
+  buttons 0 0 0 0 0 0 0 0 0 0 0 | hat 0 | axes -1 -1
+  ...
+   
+
+-->
+
+<joystick>
+
+  <input>
+
+    <axis   index="0" name="roll"  trim="1.0"/>
+    <axis   index="1" name="pitch" trim="1.0"/>
+
+    <button index="0" name="X"/>
+    <button index="1" name="A"/>
+    <button index="2" name="B"/>
+    <button index="3" name="Y"/>
+    <button index="4" name="L"/>
+    <button index="5" name="R"/>
+    <button index="8" name="select"/>
+    <button index="9" name="start"/>
+
+  </input>
+
+  <variables>
+
+    <!-- TBD: NOT USED AT THIS POINT -->
+    <var name="mode"    default="2"/>
+
+  </variables>
+
+  <messages period="0.05">
+
+    <!-- Move at Body Velocity : forward/right/down/yaw -->
+    <message class="datalink" name="GUIDED_SETPOINT_NED" send_always="true">
+      <field name="flags" value="226"/>       <!-- 0xE2 -->
+      <field name="x"     value="Fit(pitch,-100,100,-127,127)"/>
+      <field name="y"     value="Fit(-roll,-100,100,-127,127)"/>
+      <field name="z"     value="0 - A + B"/>
+      <field name="yaw"   value="0 + R - L"/>
+    </message>
+
+    <!-- Set NAV Mode -->
+    <message class="ground" name="DL_SETTING" on_event="select && A">
+      <field name="index" value="IndexOfSetting('autopilot_mode_auto2')"/>
+      <field name="value" value="13"/>
+    </message>
+
+    <!-- Set GUIDED Mode -->
+    <message class="ground" name="DL_SETTING" on_event="select && B">
+      <field name="index" value="IndexOfSetting('autopilot_mode_auto2')"/>
+      <field name="value" value="19"/>
+    </message>
+
+    <!-- go to "Start Engine" block if in AUTO2/NAV -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="start && A">
+      <field name="block_id" value="IndexOfBlock('Start Motors')"/>
+    </message>
+
+    <!-- go to "Takeoff" block if in AUTO2/NAV -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="start && B">
+      <field name="block_id" value="IndexOfBlock('Takeoff')"/>
+    </message>
+
+    <!-- go to "land here" block if in AUTO2/NAV -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="A && B">
+      <field name="block_id" value="IndexOfBlock('land')"/>
+    </message>
+
+    <!-- Set "kill_throttle" in AUTO2/NAV -->
+    <message class="ground" name="DL_SETTING" on_event="select && start">
+      <field name="index" value="IndexOfSetting(kill_throttle)"/>
+      <field name="value" value="2"/>
+    </message>
+
+  </messages>
+
+</joystick>