public void setChannel(int channel, joystickaxis axis, bool reverse, int expo)
{
JoyChannel joy = new JoyChannel();
joy.axis = axis;
joy.channel = channel;
joy.expo = expo;
joy.reverse = reverse;
JoyChannels[channel] = joy;
}
public void setAxis(int channel, joystickaxis axis)
{
JoyChannels[channel].axis = axis;
}
ushort pickchannel(int chan, joystickaxis axis, bool rev, int expo)
{
int min, max, trim = 0;
if (MainV2.comPort.MAV.param.Count > 0)
{
try
{
if (MainV2.comPort.MAV.param.ContainsKey("RC" + chan + "_MIN"))
{
min = (int)(float)(MainV2.comPort.MAV.param["RC" + chan + "_MIN"]);
max = (int)(float)(MainV2.comPort.MAV.param["RC" + chan + "_MAX"]);
trim = (int)(float)(MainV2.comPort.MAV.param["RC" + chan + "_TRIM"]);
}
else
{
min = 1000;
max = 2000;
trim = 1500;
}
}
catch
{
min = 1000;
max = 2000;
trim = 1500;
}
}
else
{
min = 1000;
max = 2000;
trim = 1500;
}
if (chan == 3)
{
trim = (min + max) / 2;
// trim = min; // throttle
}
int range = Math.Abs(max - min);
int working = 0;
switch (axis)
{
case joystickaxis.None:
working = ushort.MaxValue / 2;
break;
case joystickaxis.Pass:
working = (int)(((float)(trim - min) / range) * ushort.MaxValue);
break;
case joystickaxis.ARx:
working = state.ARx;
break;
case joystickaxis.ARy:
working = state.ARy;
break;
case joystickaxis.ARz:
working = state.ARz;
break;
case joystickaxis.AX:
working = state.AX;
break;
case joystickaxis.AY:
working = state.AY;
break;
case joystickaxis.AZ:
working = state.AZ;
break;
case joystickaxis.FRx:
working = state.FRx;
break;
case joystickaxis.FRy:
working = state.FRy;
break;
case joystickaxis.FRz:
working = state.FRz;
break;
case joystickaxis.FX:
working = state.FX;
break;
case joystickaxis.FY:
working = state.FY;
break;
case joystickaxis.FZ:
working = state.FZ;
break;
case joystickaxis.Rx:
working = state.Rx;
break;
case joystickaxis.Ry:
working = state.Ry;
break;
case joystickaxis.Rz:
working = state.Rz;
break;
case joystickaxis.VRx:
working = state.VRx;
break;
case joystickaxis.VRy:
working = state.VRy;
break;
case joystickaxis.VRz:
working = state.VRz;
break;
case joystickaxis.VX:
working = state.VX;
break;
case joystickaxis.VY:
working = state.VY;
break;
case joystickaxis.VZ:
working = state.VZ;
break;
case joystickaxis.X:
working = state.X;
break;
case joystickaxis.Y:
working = state.Y;
break;
case joystickaxis.Z:
working = state.Z;
break;
case joystickaxis.Slider1:
int[] slider = state.GetSlider();
working = slider[0];
break;
case joystickaxis.Slider2:
int[] slider1 = state.GetSlider();
working = slider1[1];
break;
case joystickaxis.Hatud1:
hat1 = (int)Constrain(hat1, 0, 65535);
working = hat1;
break;
case joystickaxis.Hatlr2:
hat2 = (int)Constrain(hat2, 0, 65535);
working = hat2;
break;
case joystickaxis.Custom1:
custom1 = (int)Constrain(custom1, 0, 65535);
working = custom1;
break;
case joystickaxis.Custom2:
custom2 = (int)Constrain(custom2, 0, 65535);
working = custom2;
break;
}
// between 0 and 65535 - convert to int -500 to 500
working = (int)(working / 65.535) - 500;
if (rev)
{
working *= -1;
}
// save for later
int raw = working;
working = (int)Expo(working, expo, min, max, trim);
/*
* // calc scale from actualy pwm range
* float scale = range / 1000.0f;
*
*
*
*
* double B = 4 * (expo / 100.0);
* double A = 1 - 0.25 * B;
*
* double t_in = working / 1000.0;
* double t_out = 0;
* double mid = trim / 1000.0;
*
* t_out = A * (t_in) + B * Math.Pow((t_in), 3);
*
* t_out = mid + t_out * scale;
*
* // Console.WriteLine("tin {0} tout {1}",t_in,t_out);
*
* working = (int)(t_out * 1000);
*
*
* if (expo == 0)
* {
* working = (int)(raw) + trim;
* }*/
//add limits to movement
working = Math.Max(min, working);
working = Math.Min(max, working);
return((ushort)working);
}
ushort pickchannel(int chan, joystickaxis axis, bool rev, int expo)
{
int min, max, trim = 0;
if (MainV2.comPort.MAV.param.Count > 0)
{
try
{
min = (int)(float)(MainV2.comPort.MAV.param["RC" + chan + "_MIN"]);
max = (int)(float)(MainV2.comPort.MAV.param["RC" + chan + "_MAX"]);
trim = (int)(float)(MainV2.comPort.MAV.param["RC" + chan + "_TRIM"]);
}
catch {
min = 1000;
max = 2000;
trim = 1500;
}
}
else
{
min = 1000;
max = 2000;
trim = 1500;
}
if (chan == 3)
{
trim = (min + max) / 2;
// trim = min; // throttle
}
int range = Math.Abs(max - min);
int working = 0;
switch (axis)
{
case joystickaxis.None:
working = ushort.MaxValue / 2;
break;
case joystickaxis.Pass:
working = (int)(((float)(trim - min) / range) * ushort.MaxValue);
break;
case joystickaxis.ARx:
working = state.ARx;
break;
case joystickaxis.ARy:
working = state.ARy;
break;
case joystickaxis.ARz:
working = state.ARz;
break;
case joystickaxis.AX:
working = state.AX;
break;
case joystickaxis.AY:
working = state.AY;
break;
case joystickaxis.AZ:
working = state.AZ;
break;
case joystickaxis.FRx:
working = state.FRx;
break;
case joystickaxis.FRy:
working = state.FRy;
break;
case joystickaxis.FRz:
working = state.FRz;
break;
case joystickaxis.FX:
working = state.FX;
break;
case joystickaxis.FY:
working = state.FY;
break;
case joystickaxis.FZ:
working = state.FZ;
break;
case joystickaxis.Rx:
working = state.Rx;
break;
case joystickaxis.Ry:
working = state.Ry;
break;
case joystickaxis.Rz:
working = state.Rz;
break;
case joystickaxis.VRx:
working = state.VRx;
break;
case joystickaxis.VRy:
working = state.VRy;
break;
case joystickaxis.VRz:
working = state.VRz;
break;
case joystickaxis.VX:
working = state.VX;
break;
case joystickaxis.VY:
working = state.VY;
break;
case joystickaxis.VZ:
working = state.VZ;
break;
case joystickaxis.X:
working = state.X;
break;
case joystickaxis.Y:
working = state.Y;
break;
case joystickaxis.Z:
working = state.Z;
break;
case joystickaxis.Slider1:
int[] slider = state.GetSlider();
working = slider[0];
break;
case joystickaxis.Slider2:
int[] slider1 = state.GetSlider();
working = slider1[1];
break;
}
// between 0 and 65535 - convert to int -500 to 500
working = (int)(working / 65.535) - 500;
if (rev)
working *= -1;
// calc scale from actualy pwm range
float scale = range / 1000.0f;
// save for later
int raw = working;
double B = 4 * (expo / 100.0);
double A = 1 - 0.25*B;
double t_in = working / 1000.0;
double t_out = 0;
double mid = trim / 1000.0;
t_out = A * (t_in) + B * Math.Pow((t_in), 3);
t_out = mid + t_out * scale;
// Console.WriteLine("tin {0} tout {1}",t_in,t_out);
working = (int)(t_out * 1000);
if (expo == 0)
{
working = (int)(raw) + trim;
}
//add limits to movement
working = Math.Max(min, working);
working = Math.Min(max, working);
return (ushort)working;
}
public void setChannel(int channel, joystickaxis axis, bool reverse, int expo)
{
JoyChannel joy = new JoyChannel();
joy.axis = axis;
joy.channel = channel;
joy.expo = expo;
joy.reverse = reverse;
JoyChannels[channel] = joy;
}
public void setAxis(int channel, joystickaxis axis)
{
JoyChannels[channel].axis = axis;
}
protected short pickchannel(int chan, joystickaxis axis, bool rev, int expo)
{
int min, max, trim = 0;
if (Interface.MAV.param.Count > 0)
{
try
{
if (Interface.MAV.param.ContainsKey("RC" + chan + "_MIN"))
{
min = (int)(float)(Interface.MAV.param["RC" + chan + "_MIN"]);
max = (int)(float)(Interface.MAV.param["RC" + chan + "_MAX"]);
trim = (int)(float)(Interface.MAV.param["RC" + chan + "_TRIM"]);
}
else
{
min = 1000;
max = 2000;
trim = 1500;
}
}
catch
{
min = 1000;
max = 2000;
trim = 1500;
}
}
else
{
min = 1000;
max = 2000;
trim = 1500;
}
if (manual_control)
{
min = -1000;
max = 1000;
trim = 0;
}
if (chan == 3)
{
trim = (min + max) / 2;
// trim = min; // throttle
}
int range = Math.Abs(max - min);
int working = 0;
switch (axis)
{
case joystickaxis.None:
working = ushort.MaxValue / 2;
break;
case joystickaxis.Pass:
working = (int)(((float)(trim - min) / range) * ushort.MaxValue);
break;
case joystickaxis.ARx:
working = state.ARx;
break;
case joystickaxis.ARy:
working = state.ARy;
break;
case joystickaxis.ARz:
working = state.ARz;
break;
case joystickaxis.AX:
working = state.AX;
break;
case joystickaxis.AY:
working = state.AY;
break;
case joystickaxis.AZ:
working = state.AZ;
break;
case joystickaxis.FRx:
working = state.FRx;
break;
case joystickaxis.FRy:
working = state.FRy;
break;
case joystickaxis.FRz:
working = state.FRz;
break;
case joystickaxis.FX:
working = state.FX;
break;
case joystickaxis.FY:
working = state.FY;
break;
case joystickaxis.FZ:
working = state.FZ;
break;
case joystickaxis.Rx:
working = state.Rx;
break;
case joystickaxis.Ry:
working = state.Ry;
break;
case joystickaxis.Rz:
working = state.Rz;
break;
case joystickaxis.VRx:
working = state.VRx;
break;
case joystickaxis.VRy:
working = state.VRy;
break;
case joystickaxis.VRz:
working = state.VRz;
break;
case joystickaxis.VX:
working = state.VX;
break;
case joystickaxis.VY:
working = state.VY;
break;
case joystickaxis.VZ:
working = state.VZ;
break;
case joystickaxis.X:
working = state.X;
break;
case joystickaxis.Y:
working = state.Y;
break;
case joystickaxis.Z:
working = state.Z;
break;
case joystickaxis.Slider1:
int[] slider = state.GetSlider();
working = slider[0];
break;
case joystickaxis.Slider2:
int[] slider1 = state.GetSlider();
working = slider1[1];
break;
case joystickaxis.Hatud1:
hat1 = (int)Constrain(hat1, 0, 65535);
working = hat1;
break;
case joystickaxis.Hatlr2:
hat2 = (int)Constrain(hat2, 0, 65535);
working = hat2;
break;
case joystickaxis.Custom1:
working = (int)(((float)(custom0 - min) / range) * ushort.MaxValue);
working = (int)Constrain(working, 0, 65535);
break;
case joystickaxis.Custom2:
working = (int)(((float)(custom1 - min) / range) * ushort.MaxValue);
working = (int)Constrain(working, 0, 65535);
break;
case joystickaxis.UINT16_MAX:
return((short)-1);
}
// between 0 and 65535 - convert to int -500 to 500
working = (int)map(working, 0, 65535, -500, 500);
if (rev)
{
working *= -1;
}
// save for later
int raw = working;
working = (int)Expo(working, expo, min, max, trim);
//add limits to movement
working = Math.Max(min, working);
working = Math.Min(max, working);
return((short)working);
}