add some comments and fix callback

paparazzi · Feb 28, 2019 · 8e4029c · 8e4029c
1 parent 905c980
commit 8e4029c
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Showing 2 changed files with 13 additions and 8 deletions.
diff --git a/conf/abi.xml b/conf/abi.xml
@@ -192,10 +192,14 @@
     </message>
 
     <message name="JOYSTICK" id="28">
-      <field name="roll"      type="int16_t"/>
-      <field name="pitch"     type="int16_t"/>
-      <field name="yaw"       type="int16_t"/>
-      <field name="throttle"  type="int16_t"/>
+      <!-- 
+           This message can be used to send command inputs from a joystick or equivalent
+           either for the control of the airframe or the control of the payload
+      -->
+      <field name="roll"      type="int16_t">Roll input in pprz_t [-9600;9600]</field>
+      <field name="pitch"     type="int16_t">Pitch input in pprz_t [-9600;9600]</field>
+      <field name="yaw"       type="int16_t">Yaw input in pprz_t [-9600;9600]</field>
+      <field name="throttle"  type="int16_t">Throttle input in pprz_t [0;9600] or [-9600;9600] (for vertical speed control for instance)</field>
     </message>
 
   </msg_class>

diff --git a/conf/flight_plans/joystick.xml b/conf/flight_plans/joystick.xml
@@ -7,11 +7,11 @@
 #ifdef NAV_C
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "autopilot.h"
-void joystick_handler(void) {
+static inline void joystick_handler(uint8_t sender_id __attribute__((unused)), int16_t roll, int16_t pitch, int16_t yaw __attribute__((unused)), int16_t throttle) {
   if (And(autopilot_get_mode() == AP_MODE_AUTO2, nav_block == joystick_block)) {
-    h_ctl_roll_setpoint = AUTO1_MAX_ROLL * joystick.roll / MAX_PPRZ;
-    h_ctl_pitch_setpoint = AUTO1_MAX_PITCH * joystick.pitch / MAX_PPRZ;
-    v_ctl_throttle_setpoint = joystick.throttle;
+    h_ctl_roll_setpoint = AUTO1_MAX_ROLL * roll / MAX_PPRZ;
+    h_ctl_pitch_setpoint = AUTO1_MAX_PITCH * pitch / MAX_PPRZ;
+    v_ctl_throttle_setpoint = throttle;
   }
 }
 #endif
@@ -31,6 +31,7 @@ void joystick_handler(void) {
   </waypoints>
   <variables>
     <variable var="joystick_block" type="uint8_t" init="255"/>
+    <abi_binding name="JOYSTICK" handler="joystick_handler"/>
   </variables>
   <modules>
     <module name="joystick"/>