mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
2c55ce3686
* files for PDF exercise * Explicit call to python2 for systems that default to python3 * Description and comments fixes [flight_plan] remove warning about dummy WP Reformatted indents to 2 spaces Added configs for ps4 gamepads, fixed typos (#68) Update: for flight testing in the CyberZoo Fix color gain in mav_course_exercise.xml airframe (#72) [flight_plan] Re-measured the autoland border. It is not safe to exit the red sqaure so it auto-lands to prevent damage. (#73) [Camera] Vision runs faster is unnecessary frames are not grabbed. (#74) Co-authored-by: Matteo Barbera <matteo.barbera97@gmail.com>
105 lines
3.6 KiB
XML
105 lines
3.6 KiB
XML
<!-- PlayStation 4 gamepad
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It has 6 axes:
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axis 0: LeftStickHorizontal
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axis 1: LeftStickVertical
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axis 2: L2 (left trigger). Also triggers button 6
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axis 3: RightStickHorizontal
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axis 4: RightStickVertical
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axis 5: R2 (right trigger). Also triggers button 7
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It has 13 buttons.
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b0 - X (blue)
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b1 - Circle (red)
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b2 - Triangle (green)
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b3 - Square (pink)
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b4 - L1 (left shoulder button)
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b5 - R1 (right shoulder button)
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b6 - L2 (left trigger). Also triggers axis 2
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b7 - R2 (right trigger). Also triggers axis 5
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b8 - Share (left of touchscreen)
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b9 - Options (right of touchscreen)
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b10 - PS (below touchscreen)
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b11 - L3 (press left stick)
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b12 - R3 (press right stick)
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and the DPad as a hat
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You can use the Hat<Position>(<hat_name>) function to trigger events,
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where <Position> is one of
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Centered/Up/Right/Down/Left/RightUp/RightDown/LeftUp/LeftDown
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so e.g. HatDown(dpad)
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-->
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<joystick>
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<input>
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<axis index="0" name="LeftStickHorizontal"/>
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<axis index="1" name="LeftStickVertical"/>
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<axis index="2" name="L2" trim="127"/>
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<axis index="3" name="RightStickHorizontal"/>
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<axis index="4" name="RightStickVertical"/>
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<axis index="5" name="R2" trim="127"/>
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<button index="0" name="X"/>
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<button index="1" name="Circle"/>
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<button index="2" name="Triangle"/>
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<button index="3" name="Square"/>
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<button index="4" name="L1"/>
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<button index="5" name="R1"/>
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<button index="6" name="L2"/>
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<button index="7" name="R2"/>
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<button index="8" name="Share"/>
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<button index="9" name="Options"/>
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<button index="10" name="PS"/>
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<button index="11" name="L3"/>
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<button index="12" name="R3"/>
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<hat index="0" name="dpad"/>
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</input>
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<variables>
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<!-- manual by default and when pressing X, AUTO1 on Square, AUTO2 on Triangle -->
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<var name="mode" default="0"/>
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<set var="mode" value="0" on_event="X"/>
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<set var="mode" value="1" on_event="Square"/>
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<set var="mode" value="2" on_event="Triangle"/>
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</variables>
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<messages period="0.05">
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<message class="datalink" name="RC_4CH" send_always="true">
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<field name="mode" value="mode"/>
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<field name="throttle" value="Fit(-LeftStickVertical,-127,127,0,127)"/>
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<field name="roll" value="RightStickHorizontal"/>
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<field name="pitch" value="RightStickVertical"/>
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<field name="yaw" value="Fit(R2-L2,-127,127,-127,127)"/>
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</message>
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<!-- go to "Start Engine" block if in AUTO2 and pressing Options button -->
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<message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && Options">
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<field name="block_id" value="IndexOfBlock('Start Engine')"/>
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</message>
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<!-- go to "Takeoff" block if in AUTO2 and pressing up on dpad -->
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<message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && HatUp(dpad)">
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<field name="block_id" value="IndexOfBlock('Takeoff')"/>
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</message>
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<!-- go to "land here" block if in AUTO2 and pressing down on dpad -->
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<message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && HatDown(dpad)">
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<field name="block_id" value="IndexOfBlock('land here')"/>
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</message>
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<!-- resurrect throttle if throttle is 0 and R1 button is pressed -->
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<message class="ground" name="DL_SETTING" on_event="(LeftStickVertical > 120) && R1">
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<field name="index" value="IndexOfSetting('autopilot.kill_throttle')"/>
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<field name="value" value="0"/>
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</message>
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<!-- kill throttle on L1 button -->
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<message class="ground" name="DL_SETTING" on_event="L1">
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<field name="index" value="IndexOfSetting('autopilot.kill_throttle')"/>
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<field name="value" value="1"/>
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</message>
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</messages>
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</joystick>
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