Joystick: Overhaul ManualControl Handling

Author: HTRamsey

src/Joystick/Joystick.cc

@@ -82,7 +82,7 @@ class Joystick : public QThread
     Q_PROPERTY(QString                  name                    READ    name                                                CONSTANT)
     Q_PROPERTY(QStringList              assignableActionTitles  READ    assignableActionTitles                              NOTIFY assignableActionsChanged)
     Q_PROPERTY(QStringList              buttonActions           READ    buttonActions                                       NOTIFY buttonActionsChanged)
-
+    Q_PROPERTY(bool )
     enum ButtonEvent_t {
         BUTTON_UP,
         BUTTON_DOWN,
@@ -183,6 +183,9 @@ class Joystick : public QThread
     /// Set joystick button repeat rate (in Hz)
     void setButtonFrequency(float val);
 
+    QBitArray getButtonStates() const;
+    QList<float> getAxisValues() const;
+
 signals:
     // The raw signals are only meant for use by calibration
     void rawAxisValueChanged(int index, int value);
@@ -196,7 +199,8 @@ class Joystick : public QThread
     void accumulatorChanged(bool accumulator);
     void enabledChanged(bool enabled);
     void circleCorrectionChanged(bool circleCorrection);
-    void axisValues(float roll, float pitch, float yaw, float throttle);
+    void axisValuesUpdated(QList<float> axisValues);
+    void dataUpdated(QList<float> axisValues, QBitArray buttons);
     void axisFrequencyHzChanged();
     void buttonFrequencyHzChanged();
     void startContinuousZoom(int direction);
@@ -279,6 +283,7 @@ private slots:
     QmlObjectListModel *_assignableButtonActions = nullptr;
 
     bool _accumulator = false;
+    float _throttleAccumulator = 0.f;
     bool _calibrated = false;
     bool _calibrationMode = false;
     bool _circleCorrection = true;
@@ -299,13 +304,20 @@ private slots:
 
     static int _transmitterMode;
 
-    static constexpr float _defaultAxisFrequencyHz = 25.0f;
-    static constexpr float _defaultButtonFrequencyHz = 5.0f;
+    static constexpr float kMinAxisValue = -1.0f;
+    static constexpr float kMaxAxisValue = 1.0f;
+
+    static constexpr float kDefaultAxisFrequencyHz = 25.0f;
+    static constexpr float kDefaultButtonFrequencyHz = 5.0f;
+
     // Arbitrary Limits
-    static constexpr float _minAxisFrequencyHz = 0.25f;
-    static constexpr float _maxAxisFrequencyHz = 200.0f;
-    static constexpr float _minButtonFrequencyHz = 0.25f;
-    static constexpr float _maxButtonFrequencyHz = 50.0f;
+    static constexpr float kMinAxisFrequencyHz = 0.25f;
+    static constexpr float kMaxAxisFrequencyHz = 200.0f;
+    static constexpr float kMinButtonFrequencyHz = 0.25f;
+    static constexpr float kMaxButtonFrequencyHz = 50.0f;
+
+    // for throttle to change from min to max it will take 1000ms
+    static constexpr float kAccumulatorMaxSlewRate = 1000.0f;
 
     static constexpr const char *_rgFunctionSettingsKey[maxFunction] = {
         "RollAxis",

src/Joystick/Joystick.h

@@ -15,7 +15,7 @@
 #include <QtCore/QJniEnvironment>
 #include <QtCore/QJniObject>
 
-QGC_LOGGING_CATEGORY(JoystickAndroidLog, "Joystick.joystickandroid")
+QGC_LOGGING_CATEGORY(JoystickAndroidLog, "Joystick.JoystickAndroid")
 
 QList<int> JoystickAndroid::_androidBtnList(_androidBtnListCount);
 int JoystickAndroid::ACTION_DOWN = 0;

src/Joystick/JoystickAndroid.cc

@@ -20,7 +20,7 @@
 #include <QtCore/QApplicationStatic>
 #include <QtCore/QSettings>
 
-QGC_LOGGING_CATEGORY(JoystickManagerLog, "Joystick.joystickmanager")
+QGC_LOGGING_CATEGORY(JoystickManagerLog, "Joystick.JoystickManager")
 
 Q_APPLICATION_STATIC(JoystickManager, _joystickManager);
 

src/Joystick/JoystickManager.cc

@@ -16,7 +16,7 @@
 
 #include <SDL3/SDL.h>
 
-QGC_LOGGING_CATEGORY(JoystickSDLLog, "Joystick.joysticksdl")
+QGC_LOGGING_CATEGORY(JoystickSDLLog, "Joystick.JoystickSDL")
 
 JoystickSDL::JoystickSDL(const QString &name, QList<int> gamepadAxes, QList<int> nonGamepadAxes, int buttonCount, int hatCount, int instanceId, bool isGamepad, QObject *parent)
     : Joystick(name, gamepadAxes.length() + nonGamepadAxes.length(), buttonCount, hatCount, parent)

src/Joystick/JoystickSDL.cc

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "MAVLinkMessages.h"
+#include "QGCLoggingCategory.h"
+
+QGC_LOGGING_CATEGORY(MAVLinkMessagesLog, "MAVLink.MAVLinkMessages")
+
+namespace MAVLinkMessages
+{
+
+void ManualControl::sendManualControlMsg(int16_t x, int16_t y, int16_t z, int16_t r,
+                                         int16_t s, int16_t t,
+                                         int16_t aux1, int16_t aux2, int16_t aux3, int16_t aux4, int16_t aux5, int16_t aux6,
+                                         QBitArray buttons)
+{
+    mavlink_manual_control_t manual_control{};
+    manual_control.x = x;
+    manual_control.y = y;
+    manual_control.z = z;
+    manual_control.r = r;
+
+    manual_control.s = s;
+    manual_control.t = t;
+    manual_control.aux1 = aux1;
+    manual_control.aux2 = aux2;
+    manual_control.aux3 = aux3;
+    manual_control.aux4 = aux4;
+    manual_control.aux5 = aux5;
+    manual_control.aux6 = aux6;
+
+    bool ok;
+    const quint32 buttonPressed = buttons.toUInt32(QSysInfo::Endian::LittleEndian, &ok);
+    if (ok) {
+        manual_control.buttons = static_cast<uint16_t>(buttonPressed);
+        manual_control.buttons2 = static_cast<uint16_t>((buttonPressed >> 16) & 0xFFFF);
+    }
+
+    SharedLinkInterfacePtr sharedLink = vehicleLinkManager()->primaryLink().lock();
+    if (!sharedLink) {
+        qCWarning(VehicleLog) << "primary link gone!";
+        return;
+    }
+
+    if (sharedLink->linkConfiguration()->isHighLatency()) {
+        return;
+    }
+
+    sendMessageOnLinkThreadSafe(sharedLink.get(), message);
+}
+
+} // namespace MAVLinkMessages

src/MAVLink/MAVLinkMessages.cc

@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "MAVLinkLib.h"
+
+#include <QtCore/QLoggingCategory>
+
+Q_DECLARE_LOGGING_CATEGORY(QGCMAVLinkMessagesLog)
+
+namespace MAVLinkMessages
+{
+
+class MAVLinkMessage
+{
+public:
+    MAVLinkMessage() = default;
+    ~MAVLinkMessage() = default;
+
+protected:
+    mavlink_message_t message;
+}
+
+class ManualControl : public MAVLinkMessage
+{
+public:
+    ManualControl() = default;
+
+private:
+    int16_t x = INT16_MAX;
+    int16_t y = INT16_MAX;
+    int16_t z = INT16_MAX;
+    int16_t r = INT16_MAX;
+
+    QBitArray buttons{32};
+
+    QBitArray extensions{8};
+
+    int16_t s = 0;
+    int16_t t = 0;
+
+    int16_t aux1 = 0;
+    int16_t aux2 = 0;
+    int16_t aux3 = 0;
+    int16_t aux4 = 0;
+    int16_t aux5 = 0;
+    int16_t aux6 = 0;
+
+    mavlink_manual_control_t manual_control{};
+};
+
+}; // namespace MAVLinkMessages