mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 04:13:39 +08:00
Christophe De Wagter
aa0863fd4f
Doxygen / build (push) Has been cancelled
* Airframe fixes TUD * Modes now set in control_loop.xml * Fix all joysticks
130 lines
4.4 KiB
XML
130 lines
4.4 KiB
XML
<!-- 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="127"/>
|
|
|
|
</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 "autopilot.kill_throttle" in AUTO2/NAV -->
|
|
<message class="ground" name="DL_SETTING" on_event="select && start">
|
|
<field name="index" value="IndexOfSetting(autopilot.kill_throttle)"/>
|
|
<field name="value" value="2"/>
|
|
</message>
|
|
|
|
</messages>
|
|
|
|
</joystick>
|