Add support for the s and t axes in the MAVLink MANUAL_CONTROL …

…protocol
bluerobotics · Nov 29, 2023 · 3b9bfb9 · 3b9bfb9
1 parent dda0192
commit 3b9bfb9
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diff --git a/src/libs/joystick/protocols.ts b/src/libs/joystick/protocols.ts
@@ -32,6 +32,8 @@ export class MavlinkControllerState extends ProtocolControllerState {
   y: number
   z: number
   r: number
+  s: number
+  t: number
   buttons: number
   buttons2: number
   target: number
@@ -74,18 +76,24 @@ export class MavlinkControllerState extends ProtocolControllerState {
     const yIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.Y)
     const zIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.Z)
     const rIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.R)
+    const sIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.S)
+    const tIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.T)
 
     const absLimits = mavlinkAxesLimits
 
     const xLimits = [mapping.axesMins[xIndex] ?? absLimits[0], mapping.axesMaxs[xIndex] ?? absLimits[1]]
     const yLimits = [mapping.axesMins[yIndex] ?? absLimits[0], mapping.axesMaxs[yIndex] ?? absLimits[1]]
     const zLimits = [mapping.axesMins[zIndex] ?? absLimits[0], mapping.axesMaxs[zIndex] ?? absLimits[1]]
     const rLimits = [mapping.axesMins[rIndex] ?? absLimits[0], mapping.axesMaxs[rIndex] ?? absLimits[1]]
+    const sLimits = [mapping.axesMins[sIndex] ?? absLimits[0], mapping.axesMaxs[sIndex] ?? absLimits[1]]
+    const tLimits = [mapping.axesMins[tIndex] ?? absLimits[0], mapping.axesMaxs[tIndex] ?? absLimits[1]]
 
     this.x = xIndex === undefined ? 0 : round(scale(joystickState.axes[xIndex] ?? 0, -1, 1, xLimits[0], xLimits[1]), 0)
     this.y = yIndex === undefined ? 0 : round(scale(joystickState.axes[yIndex] ?? 0, -1, 1, yLimits[0], yLimits[1]), 0)
     this.z = zIndex === undefined ? 0 : round(scale(joystickState.axes[zIndex] ?? 0, -1, 1, zLimits[0], zLimits[1]), 0)
     this.r = rIndex === undefined ? 0 : round(scale(joystickState.axes[rIndex] ?? 0, -1, 1, rLimits[0], rLimits[1]), 0)
+    this.s = sIndex === undefined ? 0 : round(scale(joystickState.axes[sIndex] ?? 0, -1, 1, sLimits[0], sLimits[1]), 0)
+    this.t = tIndex === undefined ? 0 : round(scale(joystickState.axes[tIndex] ?? 0, -1, 1, tLimits[0], tLimits[1]), 0)
 
     this.buttons = buttons_int
     this.buttons2 = buttons2_int
@@ -163,6 +171,8 @@ export enum MAVLinkAxis {
   Y = 'y',
   Z = 'z',
   R = 'r',
+  S = 's',
+  T = 't',
 }
 const mavlinkAvailableAxes = Object.values(MAVLinkAxis)
 export const mavlinkAvailableButtons = sequentialArray(32)

diff --git a/src/libs/vehicle/ardupilot/ardupilot.ts b/src/libs/vehicle/ardupilot/ardupilot.ts
@@ -503,6 +503,8 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
       y: state.y,
       z: state.z,
       r: state.r,
+      s: state.s,
+      t: state.t,
       buttons: state.buttons,
       buttons2: state.buttons2,
       target: 1,