mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 14:18:00 +08:00
Christophe De Wagter
cf7c8b3797
* updated distance measurement script. - automatically shows which ids are available - filter out big jumps - plot_summary.py shows distance over time with recording regions * Adding config file for radiomaster pocket joystick ble/usb (#108) * added radiomaster tx16s xml (#123) Co-authored-by: Wiebe van der Knaap <wkvanderknaap@tudelft.nl> * Fix joystick device argument parsed as single token in control panel sessions (#118) The `-d 0` joystick device flag was passed as a single `flag` attribute, causing the joystick program to receive it as one token instead of two separate arguments. This prevented the device number from being recognized, breaking joystick input in the Simulation - Gazebo and Flight UDP sessions. Fixed by splitting into `<arg flag="-d" constant="0"/>`. Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com> * fixed names of variables and resolution bugs, added documentation (#113) Co-authored-by: macoman <macoman@student.tudelft.nl> * Update Gazebo Models: Gate, Plants, Logo * Added some (math) tests (#114) * added a test for paparazzi's math librarie's int sqrt function and int quaternion normalization function * Keep essential tests Reduced the number of tests planned from 9 to 6 and removed tests for int32_sqrt. --------- Co-authored-by: LSSchef <l.s.scheffer@student.tudelft.nl> Co-authored-by: AniketBehura <aniketbehura1023@gmail.com> Co-authored-by: diaa <D.abbasi@student.tudelft.nl> * Feat: readme update for submodule installation (#115) * feat: readme update for submodule installation * Rename README to README.md --------- Co-authored-by: Christophe De Wagter <dewagter@gmail.com> --------- Co-authored-by: robinferede <robinferede@tudelft.nl> Co-authored-by: Robin Euger <robin.euger@gmail.com> Co-authored-by: Wiebe van der Knaap <wkvanderknaap@tudelft.nl> Co-authored-by: EAbbenhuis <113993394+EAbbenhuis@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com> Co-authored-by: Mihai Coman <127535163+miki133@users.noreply.github.com> Co-authored-by: macoman <macoman@student.tudelft.nl> Co-authored-by: Swayam Kuckreja <110131770+swayamkuckreja@users.noreply.github.com> Co-authored-by: LSSchef <l.s.scheffer@student.tudelft.nl> Co-authored-by: AniketBehura <aniketbehura1023@gmail.com> Co-authored-by: diaa <D.abbasi@student.tudelft.nl> Co-authored-by: Douwe-Rijs <Douwe@standofl.nl>
63 lines
2.2 KiB
XML
63 lines
2.2 KiB
XML
<joystick>
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<!--
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RadioMaster TX16S (OpenTX/EdgeTX) — Paparazzi UAV joystick configuration
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Axis mapping (verify with: ./sw/ground_segment/joystick/test_stick):
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Axis 0 : Roll — right stick X
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Axis 1 : Pitch — right stick Y
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Axis 2 : Throttle — left stick Y
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Axis 3 : Yaw — left stick X
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Axis 5 : Mode switch — 3-position (SA/SB): low / mid / high
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Axis 6 : Arm switch — 2-position (SF/SE): 0 = disarm, ~1024 = arm
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TX16S switch axes output 0 / ~1024 / ~2047 (unsigned), which input2ivy
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scales to -127 / 0 / +127 internally.
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Pitch and throttle are inverted relative to Paparazzi convention — hence
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the minus signs in the RC_UP field values below.
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-->
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<input>
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<!-- deadband: eliminates stick drift at centre (range 0-127) -->
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<!-- exponent: finer control near centre, faster at extremes (range 0-1.0) -->
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<axis index="0" name="roll" deadband="10" exponent="0.5" limit="1.0" trim="0"/>
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<axis index="1" name="pitch" deadband="10" exponent="0.5" limit="1.0" trim="0"/>
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<axis index="2" name="throttle" deadband="5" exponent="0.0" limit="1.0" trim="0"/>
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<axis index="3" name="yaw" deadband="10" exponent="0.5" limit="1.0" trim="0"/>
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<axis index="5" name="mode_sw"/>
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<axis index="6" name="arm_sw"/>
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</input>
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<variables>
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<var name="mode" default="0"/>
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</variables>
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<messages period="0.05">
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<message class="datalink" name="RC_UP" send_always="true">
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<field name="channels"
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value="roll;
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-pitch;
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yaw;
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Fit(-throttle,-127,127,0,127);
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Fit(mode_sw,-127,127,0,2)"/>
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</message>
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<!-- Arm switch: arm_sw > -60 = armed, arm_sw < -60 = disarmed/killed -->
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<message class="ground" name="DL_SETTING"
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on_event="arm_sw > -60">
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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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<message class="ground" name="DL_SETTING"
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on_event="arm_sw < -60">
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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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