mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
363dec8693
* [autopilot] refactor autopilot API for both firmwares With this, fixedwing and rotorcraft are mostly using the same interface for the autopilot. Some specific code and messages handling are still firmware dependent. A large part of the autopilot logic of the fixedwing is moved from main_ap to autopilot_static. More getter/setter functions are provided. * [autopilot] update the rest of the system and the conf for using the refactored autopilot API * [autopilot] fix some errors from CI servers * [actuators] use dummy actuators module to prevent autoloading * Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml * Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml * Delete tudelft_course2016_bebop_colorfilter.xml * Delete tudelft_course2016_bebop_avoider.xml * [actuators] don't autoload actuators when set to 'none' * [gcs] autodetect firmware for strip mode button
85 lines
2.8 KiB
XML
85 lines
2.8 KiB
XML
<!-- Microsoft Microsoft SideWinder Precision Pro (USB)
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Joystick has four axes:
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axis 0: roll
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axis 1: pitch
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axis 2: yaw
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axis 3: throttle (reversed)
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It has 9 buttons.
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b0 - fire
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b1 - secondary fire
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b2 - upper right thumb button
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b3 - lower right thumb button
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b4 - button A
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b5 - button B
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b6 - button C
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b7 - button D
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b8 - shift button
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and a POV 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(hat)
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-->
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<joystick>
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<input>
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<axis index="0" name="roll" limit="1.00" exponent="0.7" trim="0"/>
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<axis index="1" name="pitch" limit="1.00" exponent="0.7" trim="0"/>
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<axis index="2" name="yaw" limit="1.00" exponent="0.7" trim="0"/>
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<axis index="3" name="throttle"/>
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<button index="0" name="fire"/>
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<button index="1" name="fire2"/>
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<button index="2" name="up"/>
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<button index="3" name="down"/>
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<button index="4" name="A"/>
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<button index="5" name="B"/>
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<button index="6" name="C"/>
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<button index="7" name="D"/>
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<button index="8" name="shift"/>
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<hat index="0" name="hat"/>
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</input>
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<variables>
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<!-- manual by default and when pressing A, AUTO1 on B, AUTO2 on C -->
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<var name="mode" default="0"/>
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<set var="mode" value="0" on_event="A"/>
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<set var="mode" value="1" on_event="B"/>
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<set var="mode" value="2" on_event="C"/>
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</variables>
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<messages period="0.1">
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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(-throttle,-127,127,0,127)"/>
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<field name="roll" value="roll"/>
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<field name="pitch" value="pitch"/>
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<field name="yaw" value="yaw"/>
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</message>
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<!-- go to "Start Engine" block if in AUTO2 and pressing shift + fire2 -->
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<message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && shift && fire2">
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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 shift + up -->
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<message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && shift && up">
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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 shift + down -->
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<message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && shift && down">
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<field name="block_id" value="IndexOfBlock('land here')"/>
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</message>
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<!-- kill throttle when pressing both fire buttons at the same time -->
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<message class="ground" name="DL_SETTING" on_event="fire && fire2">
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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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