/// <summary>
/// Updates the rcoverride values and controls the mode changes
/// </summary>
void mainloop()
{
while (enabled && joystick != null && !joystick.IsDisposed)
{
try
{
System.Threading.Thread.Sleep(50);
if (joystick.IsDisposed)
{
return;
}
//joystick stuff
joystick.Poll();
state = joystick.CurrentJoystickState();
//Console.WriteLine(state);
if (getNumberPOV() > 0)
{
int pov = getHatSwitchDirection();
if (pov != -1)
{
int angle = pov / 100;
//0 = down = 18000
//0 = up = 0
// 0
if (angle > 270 || angle < 90)
{
hat1 += 500;
}
// 180
if (angle > 90 && angle < 270)
{
hat1 -= 500;
}
// 90
if (angle > 0 && angle < 180)
{
hat2 += 500;
}
// 270
if (angle > 180 && angle < 360)
{
hat2 -= 500;
}
}
}
if (elevons)
{
//g.channel_roll.set_pwm(BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500);
//g.channel_pitch.set_pwm( (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500);
short roll = pickchannel(1, JoyChannels[1].axis, false, JoyChannels[1].expo);
short pitch = pickchannel(2, JoyChannels[2].axis, false, JoyChannels[2].expo);
if (getJoystickAxis(1) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech1 =
(short)
(BOOL_TO_SIGN(JoyChannels[1].reverse) * ((int)(pitch - 1500) - (int)(roll - 1500)) / 2 +
1500);
}
if (getJoystickAxis(2) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech2 =
(short)
(BOOL_TO_SIGN(JoyChannels[2].reverse) * ((int)(pitch - 1500) + (int)(roll - 1500)) / 2 +
1500);
}
}
else
{
if (getJoystickAxis(1) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech1 = pickchannel(1, JoyChannels[1].axis,
JoyChannels[1].reverse, JoyChannels[1].expo);
}
//(ushort)(((int)state.Rz / 65.535) + 1000);
if (getJoystickAxis(2) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech2 = pickchannel(2, JoyChannels[2].axis,
JoyChannels[2].reverse, JoyChannels[2].expo);
}
//(ushort)(((int)state.Y / 65.535) + 1000);
}
if (getJoystickAxis(3) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech3 = pickchannel(3, JoyChannels[3].axis, JoyChannels[3].reverse,
JoyChannels[3].expo); //(ushort)(1000 - ((int)slider[0] / 65.535) + 1000);
}
if (getJoystickAxis(4) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech4 = pickchannel(4, JoyChannels[4].axis, JoyChannels[4].reverse,
JoyChannels[4].expo); //(ushort)(((int)state.X / 65.535) + 1000);
}
if (getJoystickAxis(5) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech5 = pickchannel(5, JoyChannels[5].axis, JoyChannels[5].reverse,
JoyChannels[5].expo);
}
if (getJoystickAxis(6) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech6 = pickchannel(6, JoyChannels[6].axis, JoyChannels[6].reverse,
JoyChannels[6].expo);
}
if (getJoystickAxis(7) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech7 = pickchannel(7, JoyChannels[7].axis, JoyChannels[7].reverse,
JoyChannels[7].expo);
}
if (getJoystickAxis(8) != Joystick.joystickaxis.None)
{
MainV2.comPort.MAV.cs.rcoverridech8 = pickchannel(8, JoyChannels[8].axis, JoyChannels[8].reverse,
JoyChannels[8].expo);
}
// disable button actions when not connected.
if (MainV2.comPort.BaseStream.IsOpen)
{
DoJoystickButtonFunction();
}
//Console.WriteLine("{0} {1} {2} {3}", MainV2.comPort.MAV.cs.rcoverridech1, MainV2.comPort.MAV.cs.rcoverridech2, MainV2.comPort.MAV.cs.rcoverridech3, MainV2.comPort.MAV.cs.rcoverridech4);
}
catch (SharpDX.SharpDXException ex)
{
log.Error(ex);
clearRCOverride();
MainV2.instance.Invoke((System.Action)
delegate { CustomMessageBox.Show("Lost Joystick", "Lost Joystick"); });
return;
}
catch (Exception ex)
{
log.Info("Joystick thread error " + ex.ToString());
} // so we cant fall out
}
}