mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +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
125 lines
4.4 KiB
XML
125 lines
4.4 KiB
XML
<!-- Logitech F710
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This config is for Xinput mode. Make sure slider switch on back of controller is on X (not D)
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Also make sure controller not in sports mode (mode light should be off)
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Joystick has eight axes:
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axis 0: X on left stick
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axis 1: Y on left stick
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axis 2: Left trigger
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axis 3: X on right stick
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axis 4: Y on right stick
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axis 5: Right trigger
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axis 6: X on D-Pad (not analog)
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axis 7: Y on D-Pad (not analog)
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It has 8 buttons.
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b_green - green button (A)
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b_red - red button (B)
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b_blue - blue button (X)
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b_yellow - yellow button (Y)
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b_ltb - left trigger button
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b_rtb - right trigger button
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b_start - start button
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b_back - back button
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-->
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<joystick>
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<input>
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<axis index="0" name="lx" limit="1.00" exponent="0.7" trim="0"/>
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<axis index="1" name="ly" limit="1.00" exponent="0.0" trim="0"/>
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<axis index="2" name="lt" limit="1.00" exponent="0.0" trim="0"/>
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<axis index="3" name="rx" limit="1.00" exponent="0.7" trim="0"/>
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<axis index="4" name="ry" limit="1.00" exponent="0.7" trim="0"/>
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<axis index="5" name="rt" limit="1.00" exponent="0.0" trim="0"/>
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<axis index="6" name="dx" limit="1.00" exponent="0.0" trim="0"/>
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<axis index="7" name="dy" limit="1.00" exponent="0.0" trim="0"/>
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<button index="0" name="b_green"/>
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<button index="1" name="b_red"/>
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<button index="2" name="b_blue"/>
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<button index="3" name="b_yellow"/>
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<button index="4" name="b_ltb"/>
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<button index="5" name="b_rtb"/>
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<button index="6" name="b_back"/>
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<button index="7" name="b_start"/>
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<button index="8" name="b8"/>
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<button index="9" name="b9"/>
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<button index="10" name="b10"/>
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</input>
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<variables>
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<!-- manual by default and when pressing b_green, AUTO1 on b_yellow, AUTO2 on b_red -->
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<var name="mode" default="0"/>
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<set var="mode" value="0" on_event="b_green"/>
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<set var="mode" value="1" on_event="b_yellow"/>
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<set var="mode" value="2" on_event="b_red"/>
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</variables>
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<messages period="0.0333333333">
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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="Bound(0-ly,0,127)"/>
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<field name="roll" value="rx"/>
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<field name="yaw" value="lx"/>
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<field name="pitch" value="ry"/>
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</message>
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<!-- trim commands -->
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<!-- uncomment if you have rc_x_trim
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<message class="ground" name="DL_SETTING" on_event="b_ltb && b_rtb">
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<field name="index" value="IndexOfSetting('rc_roll_trim')"/>
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<field name="value" value="0"/>
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</message>
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<message class="ground" name="DL_SETTING" on_event="b_ltb && b_rtb">
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<field name="index" value="IndexOfSetting('rc_pitch_trim')"/>
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<field name="value" value="0"/>
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</message>
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<message class="ground" name="DL_SETTING" on_event="b_ltb && b_rtb">
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<field name="index" value="IndexOfSetting('rc_yaw_trim')"/>
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<field name="value" value="0-10"/>
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</message>
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-->
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<!--
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<message class="ground" name="lx" on_event="b8"/>
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<message class="trim_plus" name="ly" on_event="b10"/>
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<message class="trim_minus" name="ly" on_event="b11"/>
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<message class="trim_plus" name="rx" on_event="b2"/>
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<message class="trim_minus" name="rx" on_event="b0"/>
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<message class="trim_minus" name="ry" on_event="b3"/>
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<message class="trim_plus" name="ry" on_event="b1"/>
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<message class="trim_save" name="" on_event="b5"/>
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-->
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<!-- Camera switch. only uncomment if you have cam_switch -->
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<!--
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<message class="ground" name="DL_SETTING" on_event="b_start">
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<field name="index" value="IndexOfSetting('cam_switch')"/>
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<field name="value" value="1"/>
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</message>
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<message class="ground" name="DL_SETTING" on_event="b_back">
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<field name="index" value="IndexOfSetting('cam_switch')"/>
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<field name="value" value="0"/>
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</message>
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-->
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<!-- resurrect throttle on start button -->
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<message class="ground" name="DL_SETTING" on_event="b_start">
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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 when pressing both back and blue buttons at the same time -->
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<message class="ground" name="DL_SETTING" on_event="b_back && b_blue">
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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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