mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-26 08:22:43 +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
122 lines
3.9 KiB
XML
122 lines
3.9 KiB
XML
<!-- NES gamepad
|
|
|
|
Support for NAV/GUIDED mode flight using NES and NES-clones that comply to the following axes/button mappings.
|
|
|
|
| |
|
|
________________|_|__________________________________
|
|
| _________________________________________________ |
|
|
| | |_____________| | |
|
|
| | ___ ,-------------. | |
|
|
| | | | |_____________| Nintendo | |
|
|
| | ___| |___ ,-------------. | |
|
|
| | | ,-. | |SELECT START| ___B ___A | |
|
|
| | |___ `-' ___| ;=============` |,-.| |,-.| | |
|
|
| | | | | === === | |._,| |._,| | |
|
|
| | |___| ;=============. '---' '---' | |
|
|
| |_________________|_____________|_________________| |
|
|
|_____________________________________________________|
|
|
|
|
|
|
AXES - 2 axes: (black)
|
|
|
|
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 4 are used:
|
|
|
|
b0 - A (red) values:(0 | 1)
|
|
b1 - B (red) values:(0 | 1)
|
|
b8 - select (black) values:(0 | 1)
|
|
b9 - start (black) 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="A"/>
|
|
<button index="1" name="B"/>
|
|
<button index="8" name="select"/>
|
|
<button index="9" name="start"/>
|
|
|
|
</input>
|
|
|
|
|
|
<variables>
|
|
|
|
<!-- TBD: NOT USED AT THIS POINT -->
|
|
<var name="mode" default="2"/>
|
|
|
|
</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 + start - select"/>
|
|
</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>
|