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Sub: turn lights and video_switch into aux functions #29863

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Merged
merged 2 commits into from
Apr 25, 2025
Merged

Sub: turn lights and video_switch into aux functions #29863

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8162b32
Sub: turn lights and videoToggle into auxFunctions
Williangalvani Apr 22, 2025
de81a95
SRV_Channel: create auxfunction for lights and video switcher
Williangalvani Apr 22, 2025
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2 changes: 1 addition & 1 deletion ArduSub/GCS_MAVLink_Sub.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,7 +137,7 @@ bool GCS_MAVLINK_Sub::send_info()

CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
send_named_float("Lights1",
SRV_Channels::get_output_norm(SRV_Channel::k_rcin9) / 2.0f + 0.5f);
SRV_Channels::get_output_norm(SRV_Channel::k_lights1) / 2.0f + 0.5f);

CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
send_named_float("Lights2",
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4 changes: 2 additions & 2 deletions ArduSub/Parameters.h
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Original file line number Diff line number Diff line change
Expand Up @@ -409,8 +409,8 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
{ "BATT_CAPACITY", 0},
{ "LEAK1_PIN", 27},
{ "SCHED_LOOP_RATE", 200},
{ "SERVO13_FUNCTION", 59}, // k_rcin9, lights 1
{ "SERVO14_FUNCTION", 60}, // k_rcin10, lights 2
{ "SERVO13_FUNCTION", 181}, // k_lights1
{ "SERVO14_FUNCTION", 182}, // k_lights2
{ "SERVO16_FUNCTION", 7}, // k_mount_tilt
{ "SERVO16_REVERSED", 1},
#else
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76 changes: 30 additions & 46 deletions ArduSub/joystick.cpp
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Expand Up @@ -8,14 +8,13 @@
namespace {
float cam_tilt = 1500.0;
float cam_pan = 1500.0;
int16_t lights1 = 1100;
int16_t lights2 = 1100;
float lights1 = 0;
float lights2 = 0;
int16_t rollTrim = 0;
int16_t pitchTrim = 0;
int16_t zTrim = 0;
int16_t xTrim = 0;
int16_t yTrim = 0;
int16_t video_switch = 1100;
int16_t x_last, y_last, z_last;
uint32_t buttons_prev;

Expand All @@ -32,9 +31,6 @@ void Sub::init_joystick()
{
default_js_buttons();

lights1 = RC_Channels::rc_channel(8)->get_radio_min();
lights2 = RC_Channels::rc_channel(9)->get_radio_min();

set_mode(Mode::Number::MANUAL, ModeReason::RC_COMMAND); // Initialize flight mode

if (g.numGainSettings < 1) {
Expand All @@ -49,6 +45,9 @@ void Sub::init_joystick()
}

gain = constrain_float(gain, 0.1, 1.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_lights1, 0.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_lights2, 0.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_video_switch, 0.0);
}

void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons, uint16_t buttons2, uint8_t enabled_extensions,
Expand Down Expand Up @@ -138,9 +137,6 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t

RC_Channels::set_override(6, cam_pan, tnow); // camera pan
RC_Channels::set_override(7, cam_tilt, tnow); // camera tilt
RC_Channels::set_override(8, lights1, tnow); // lights 1
RC_Channels::set_override(9, lights2, tnow); // lights 2
RC_Channels::set_override(10, video_switch, tnow); // video switch

// Store old x, y, z values for use in input hold logic
x_last = x;
Expand Down Expand Up @@ -216,10 +212,10 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
static bool video_toggle = false;
video_toggle = !video_toggle;
if (video_toggle) {
video_switch = 1900;
SRV_Channels::set_output_scaled(SRV_Channel::k_video_switch, 1000);
gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 2");
} else {
video_switch = 1100;
SRV_Channels::set_output_scaled(SRV_Channel::k_video_switch, 0.0);
gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 1");
}
}
Expand All @@ -233,71 +229,59 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
case JSButton::button_function_t::k_lights1_cycle:
if (!held) {
static bool increasing = true;
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
uint16_t step = 1000.0 / g.lights_steps;
if (increasing) {
lights1 = constrain_float(lights1 + step, min, max);
lights1 = constrain_float(lights1 + step, 0.0, 1000.0);
} else {
lights1 = constrain_float(lights1 - step, min, max);
lights1 = constrain_float(lights1 - step, 0.0, 1000.0);
}
if (lights1 >= max || lights1 <= min) {
if (lights1 >= 1000.0 || lights1 <= 0.0) {
increasing = !increasing;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_lights1, lights1);
}
break;
case JSButton::button_function_t::k_lights1_brighter:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights1 = constrain_float(lights1 + step, min, max);
uint16_t step = 1000.0 / g.lights_steps;
lights1 = constrain_float(lights1 + step, 0.0, 1000.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_lights1, lights1);
}
break;
case JSButton::button_function_t::k_lights1_dimmer:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights1 = constrain_float(lights1 - step, min, max);
uint16_t step = 1000.0 / g.lights_steps;
lights1 = constrain_float(lights1 - step, 0.0, 1000.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_lights1, lights1);
}
break;
case JSButton::button_function_t::k_lights2_cycle:
if (!held) {
if (!held) {
static bool increasing = true;
RC_Channel* chan = RC_Channels::rc_channel(9);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
uint16_t step = 1000.0 / g.lights_steps;
if (increasing) {
lights2 = constrain_float(lights2 + step, min, max);
lights2 = constrain_float(lights2 + step, 0.0, 1000.0);
} else {
lights2 = constrain_float(lights2 - step, min, max);
lights2 = constrain_float(lights2 - step, 0.0, 1000.0);
}
if (lights2 >= max || lights2 <= min) {
if (lights2 >= 1000.0 || lights2 <= 0.0) {
increasing = !increasing;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_lights2, lights2);
}
break;
case JSButton::button_function_t::k_lights2_brighter:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(9);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights2 = constrain_float(lights2 + step, min, max);
uint16_t step = 1000.0 / g.lights_steps;
lights2 = constrain_float(lights2 + step, 0.0, 1000.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_lights2, lights2);
}
break;
case JSButton::button_function_t::k_lights2_dimmer:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(9);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights2 = constrain_float(lights2 - step, min, max);
uint16_t step = 1000.0 / g.lights_steps;
lights2 = constrain_float(lights2 - step, 0.0, 1000.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_lights2, lights2);
}
break;
case JSButton::button_function_t::k_gain_toggle:
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10 changes: 0 additions & 10 deletions ArduSub/radio.cpp
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Expand Up @@ -33,16 +33,6 @@ void Sub::init_rc_in()

RC_Channels::set_override(6, 1500); // camera pan channel
RC_Channels::set_override(7, 1500); // camera tilt channel

RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
RC_Channels::set_override(8, min); // lights 1 channel

chan = RC_Channels::rc_channel(9);
min = chan->get_radio_min();
RC_Channels::set_override(9, min); // lights 2 channel

RC_Channels::set_override(10, 1100); // video switch
#endif
}

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5 changes: 4 additions & 1 deletion libraries/SRV_Channel/SRV_Channel.cpp
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Expand Up @@ -111,7 +111,7 @@ const AP_Param::GroupInfo SRV_Channel::var_info[] = {
// @Values{Plane}: 41:TiltMotorsFront,45:TiltMotorsRear,46:TiltMotorRearLeft,47:TiltMotorRearRight
// @Values: 51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16
// @Values{Plane, Copter, Rover}: 51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16
// @Values{Sub}: 51:RCIN1/Pitch,52:RCIN2/Roll,53:RCIN3/HeaveVertical,54:RCIN4/YawTurn,55:RCIN5/SurgeForward,56:RCIN6/SwayLateral,57:RCIN7/CameraPan,58:RCIN8/CameraTilt,59:RCIN9/Lights1Level,60:RCIN10/Lights2Level,61:RCIN11/VideoSwitch,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16
// @Values{Sub}: 51:RCIN1/Pitch,52:RCIN2/Roll,53:RCIN3/HeaveVertical,54:RCIN4/YawTurn,55:RCIN5/SurgeForward,56:RCIN6/SwayLateral,57:RCIN7/CameraPan,58:RCIN8/CameraTilt,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16
// @Values: 67:Ignition,69:Starter
// @Values{Plane}: 67:Ignition,69:Starter
// @Values: 70:Throttle
Expand Down Expand Up @@ -163,6 +163,9 @@ const AP_Param::GroupInfo SRV_Channel::var_info[] = {
// @Values{Plane, Copter}: 168:Motor21,169:Motor22,170:Motor23,171:Motor24
// @Values{Plane, Copter}: 172:Motor25,173:Motor26,174:Motor27,175:Motor28
// @Values{Plane, Copter}: 176:Motor29,177:Motor30,178:Motor31,179:Motor32
// @Values: 180:CameraZoom
// @Values{Sub}: 181:Lights1,182:Lights2
// @Values{Sub}: 183:VideoSwitch
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("FUNCTION", 5, SRV_Channel, function, 0),
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3 changes: 3 additions & 0 deletions libraries/SRV_Channel/SRV_Channel.h
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Expand Up @@ -210,6 +210,9 @@ class SRV_Channel {
k_motor31 = 178,
k_motor32 = 179,
k_cam_zoom = 180,
k_lights1 = 181,
k_lights2 = 182,
k_video_switch = 183,
k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
} Function;

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3 changes: 3 additions & 0 deletions libraries/SRV_Channel/SRV_Channel_aux.cpp
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Expand Up @@ -202,6 +202,9 @@ void SRV_Channel::aux_servo_function_setup(void)
break;
case k_cam_zoom:
case k_cam_focus:
case k_lights1:
case k_lights2:
case k_video_switch:
set_range(1000);
break;
default:
Expand Down
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