even better!!!

bluerobotics · Dec 5, 2023 · d45cc63 · d45cc63
1 parent 7626a1f
commit d45cc63
Showing 1 changed file with 14 additions and 16 deletions.
diff --git a/src/libs/joystick/protocols/mavlink-manual-control.ts b/src/libs/joystick/protocols/mavlink-manual-control.ts
@@ -434,22 +434,20 @@ export class MavlinkManualControlManager {
       .filter(([k]) => k.includes('BTN') && k.includes('S'))
       .map((btn) => ({ button: btn[0], actionId: buttonParametersNamedObject[btn[1]] }))
 
-    // Always map the shift key to BTN0_FUNCTION and BTN0_SFUNCTION
-    const r0Function = currentRegularButtonParameters.find((v) => v.button === MAVLinkManualControlButton.R0)
-    if (r0Function === undefined) return
-    if (r0Function.actionId !== MAVLinkButtonFunction.shift) {
-      const mavlinkActionValue = this.vehicleButtonParameterTable.find((e) => e.title === MAVLinkButtonFunction.shift)
-      if (mavlinkActionValue === undefined) return
-      this.vehicle.setParameter({ id: r0Function.button, value: mavlinkActionValue.value })
-      return
-    }
-    const s0Function = currentShiftButtonParameters.find((v) => v.button === MAVLinkManualControlButton.S0)
-    if (s0Function === undefined) return
-    if (s0Function.actionId !== MAVLinkButtonFunction.shift) {
-      const mavlinkActionValue = this.vehicleButtonParameterTable.find((e) => e.title === MAVLinkButtonFunction.shift)
-      if (mavlinkActionValue === undefined) return
-      this.vehicle.setParameter({ id: s0Function.button, value: mavlinkActionValue.value })
-      return
+    // Re-use shift button if already mapped. Otherwise use R0 and S0.
+    const regularShiftFunction = currentRegularButtonParameters.find((v) => v.actionId === MAVLinkButtonFunction.shift)
+    const shiftActionValue = this.vehicleButtonParameterTable.find((e) => e.title === MAVLinkButtonFunction.shift)
+    if (regularShiftFunction === undefined) {
+      // Map shift to R0
+      const r0Function = currentRegularButtonParameters.find((v) => v.button === MAVLinkManualControlButton.R0)
+      this.vehicle.setParameter({ id: r0Function!.button, value: shiftActionValue!.value })
+
+      // Map shift to S0
+      const s0Function = currentShiftButtonParameters.find((v) => v.button === MAVLinkManualControlButton.S0)
+      this.vehicle.setParameter({ id: s0Function!.button, value: shiftActionValue!.value })
+    } else {
+      const sFunction = regularShiftFunction.button.replace('FUNCTION', 'SFUNCTION')
+      this.vehicle.setParameter({ id: sFunction, value: shiftActionValue!.value })
     }
 
     const currentMappedActionsInRegularButtons = currentRegularButtonParameters.map((v) => v.actionId)