Merge pull request #2068 from mavlink/Joystick

Joystick fix

src/Joystick/Joystick.cc

@@ -60,6 +60,10 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
     , _axisCount(axisCount)
     , _buttonCount(buttonCount)
     , _calibrationMode(CalibrationModeOff)
+    , _rgAxisValues(NULL)
+    , _rgCalibration(NULL)
+    , _rgButtonValues(NULL)
+    , _rgButtonActions(NULL)
     , _lastButtonBits(0)
     , _throttleMode(ThrottleModeCenterZero)
     , _activeVehicle(NULL)
@@ -72,12 +76,16 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
     Q_UNUSED(buttonCount)
     Q_UNUSED(sdlIndex)
 #else
-    for (int i=0; i<_cAxes; i++) {
+    _rgAxisValues = new int[_axisCount];
+    _rgCalibration = new Calibration_t[_axisCount];
+    _rgButtonValues = new bool[_buttonCount];
+    _rgButtonActions = new QString[_buttonCount];
+
+    for (int i=0; i<_axisCount; i++) {
         _rgAxisValues[i] = 0;
     }
-    for (int i=0; i<_cButtons; i++) {
+    for (int i=0; i<_buttonCount; i++) {
         _rgButtonValues[i] = false;
-        _rgButtonActions[i] = -1;
     }
     
     _loadSettings();
@@ -86,7 +94,12 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
 
 Joystick::~Joystick()
 {
-    
+#ifndef __mobile__
+    delete _rgAxisValues;
+    delete _rgCalibration;
+    delete _rgButtonValues;
+    delete _rgButtonActions;
+#endif
 }
 
 #ifndef __mobile__
@@ -115,7 +128,7 @@ void Joystick::_loadSettings(void)
     QString trimTpl ("Axis%1Trim");
     QString revTpl  ("Axis%1Rev");
     
-    for (int axis=0; axis<_cAxes; axis++) {
+    for (int axis=0; axis<_axisCount; axis++) {
         Calibration_t* calibration = &_rgCalibration[axis];
         
         calibration->center = settings.value(trimTpl.arg(axis), 0).toInt(&convertOk);
@@ -143,7 +156,7 @@ void Joystick::_loadSettings(void)
         qCDebug(JoystickLog) << "_loadSettings function:axis:badsettings" << function << functionAxis << badSettings;
     }
     
-    for (int button=0; button<_cButtons; button++) {
+    for (int button=0; button<_buttonCount; button++) {
         _rgButtonActions[button] = settings.value(QString(_buttonActionSettingsKey).arg(button), QString()).toString();        
         qCDebug(JoystickLog) << "_loadSettings button:action" << button << _rgButtonActions[button];
     }
@@ -171,7 +184,7 @@ void Joystick::_saveSettings(void)
     QString trimTpl ("Axis%1Trim");
     QString revTpl  ("Axis%1Rev");
     
-    for (int axis=0; axis<_cAxes; axis++) {
+    for (int axis=0; axis<_axisCount; axis++) {
         Calibration_t* calibration = &_rgCalibration[axis];
         
         settings.setValue(trimTpl.arg(axis), calibration->center);
@@ -193,7 +206,7 @@ void Joystick::_saveSettings(void)
         qCDebug(JoystickLog) << "_saveSettings name:function:axis" << _name << function << _rgFunctionSettingsKey[function];
     }
     
-    for (int button=0; button<_cButtons; button++) {
+    for (int button=0; button<_buttonCount; button++) {
         settings.setValue(QString(_buttonActionSettingsKey).arg(button), _rgButtonActions[button]);
         qCDebug(JoystickLog) << "_saveSettings button:action" << button << _rgButtonActions[button];
     }
@@ -278,10 +291,6 @@ void Joystick::run(void)
             float   pitch = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
             
                     axis = _rgFunctionAxis[yawFunction];
-                    _rgCalibration[axis].min = -32768;
-                    _rgCalibration[axis].max = 32767;
-                    _rgCalibration[axis].center = 0;
-                    _rgCalibration[axis].reversed = false;
             float   yaw = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
 
                     axis = _rgFunctionAxis[throttleFunction];
@@ -398,7 +407,7 @@ void Joystick::stopPolling(void)
 
 void Joystick::setCalibration(int axis, Calibration_t& calibration)
 {
-    if (axis < 0 || axis > _cAxes) {
+    if (!_validAxis(axis)) {
         qCWarning(JoystickLog) << "Invalid axis index" << axis;
         return;
     }
@@ -411,7 +420,7 @@ void Joystick::setCalibration(int axis, Calibration_t& calibration)
 
 Joystick::Calibration_t Joystick::getCalibration(int axis)
 {
-    if (axis < 0 || axis > _cAxes) {
+    if (!_validAxis(axis)) {
         qCWarning(JoystickLog) << "Invalid axis index" << axis;
     }
     
@@ -420,7 +429,7 @@ Joystick::Calibration_t Joystick::getCalibration(int axis)
 
 void Joystick::setFunctionAxis(AxisFunction_t function, int axis)
 {
-    if (axis < 0 || axis > _cAxes) {
+    if (!_validAxis(axis)) {
         qCWarning(JoystickLog) << "Invalid axis index" << axis;
         return;
     }
@@ -451,7 +460,7 @@ QStringList Joystick::actions(void)
 
 void Joystick::setButtonAction(int button, const QString& action)
 {
-    if (button < 0 || button > _cButtons) {
+    if (!_validButton(button)) {
         qCWarning(JoystickLog) << "Invalid button index" << button;
         return;
     }
@@ -465,7 +474,7 @@ void Joystick::setButtonAction(int button, const QString& action)
 
 QString Joystick::getButtonAction(int button)
 {
-    if (button < 0 || button > _cButtons) {
+    if (!_validButton(button)) {
         qCWarning(JoystickLog) << "Invalid button index" << button;
     }
     
@@ -543,4 +552,14 @@ void Joystick::_buttonAction(const QString& action)
     }
 }
 
+bool Joystick::_validAxis(int axis)
+{
+    return axis >= 0 && axis < _axisCount;
+}
+
+bool Joystick::_validButton(int button)
+{
+    return button >= 0 && button < _buttonCount;
+}
+
 #endif // __mobile__

src/Joystick/Joystick.h

@@ -67,8 +67,8 @@ public:
     
     Q_PROPERTY(bool calibrated MEMBER _calibrated NOTIFY calibratedChanged)
     
-    Q_PROPERTY(int buttonCount MEMBER _buttonCount CONSTANT)
-    Q_PROPERTY(int axisCount MEMBER _axisCount CONSTANT)
+    Q_PROPERTY(int buttonCount  READ buttonCount    CONSTANT)
+    Q_PROPERTY(int axisCount    READ axisCount      CONSTANT)
     
     Q_PROPERTY(QStringList actions READ actions CONSTANT)
     
@@ -77,6 +77,11 @@ public:
     Q_INVOKABLE QString getButtonAction(int button);
     
     Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
+
+    // Property accessors
+
+    int axisCount(void) { return _axisCount; }
+    int buttonCount(void) { return _buttonCount; }
     
     /// Start the polling thread which will in turn emit joystick signals
     void startPolling(Vehicle* vehicle);
@@ -136,7 +141,9 @@ private:
     void _loadSettings(void);
     float _adjustRange(int value, Calibration_t calibration);
     void _buttonAction(const QString& action);
-    
+    bool _validAxis(int axis);
+    bool _validButton(int button);
+
     // Override from QThread
     virtual void run(void);
 
@@ -152,14 +159,12 @@ private:
     
     CalibrationMode_t   _calibrationMode;
     
-    static const int    _cAxes = 4;
-    int                 _rgAxisValues[_cAxes];
-    Calibration_t       _rgCalibration[_cAxes];
+    int*                _rgAxisValues;
+    Calibration_t*      _rgCalibration;
     int                 _rgFunctionAxis[maxFunction];
     
-    static const int    _cButtons = 12;
-    bool                _rgButtonValues[_cButtons];
-    QString             _rgButtonActions[_cButtons];
+    bool*               _rgButtonValues;
+    QString*            _rgButtonActions;
     quint16             _lastButtonBits;
     
     ThrottleMode_t      _throttleMode;

src/VehicleSetup/JoystickConfig.qml

@@ -67,7 +67,6 @@ QGCView {
         if (controllerCompleted) {
             controllerAndViewReady = true
             controller.start()
-            updateAxisCount()
         }
     }
 
@@ -564,7 +563,7 @@ QGCView {
 
                 Repeater {
                     id:     axisMonitorRepeater
-                    model:  controller.axisCount
+                    model:  _activeJoystick.axisCount
                     width:  parent.width
 
                     Row {

src/VehicleSetup/JoystickConfigController.cc

@@ -58,6 +58,9 @@ JoystickConfigController::JoystickConfigController(void)
     : _activeJoystick(NULL)
     , _currentStep(-1)
     , _axisCount(0)
+    , _rgAxisInfo(NULL)
+    , _axisValueSave(NULL)
+    , _axisRawValue(NULL)
     , _calState(calStateAxisWait)
     , _statusText(NULL)
     , _cancelButton(NULL)
@@ -133,7 +136,7 @@ void JoystickConfigController::_setupCurrentState(void)
     
     _setHelpImage(state->image);
     
-    _stickDetectAxis = _axisMax;
+    _stickDetectAxis = _axisNoAxis;
     _stickDetectSettleStarted = false;
     
     _calSaveCurrentValues();
@@ -144,7 +147,7 @@ void JoystickConfigController::_setupCurrentState(void)
 
 void JoystickConfigController::_axisValueChanged(int axis, int value)
 {
-    if (axis >= 0 && axis < _axisMax) {
+    if (_validAxis(axis)) {
         // We always update raw values
         _axisRawValue[axis] = value;
         emit axisValueChanged(axis, _axisRawValue[axis]);
@@ -175,7 +178,6 @@ void JoystickConfigController::_axisValueChanged(int axis, int value)
             // Track the axis count by keeping track of how many axes we see
             if (axis + 1 > (int)_axisCount) {
                 _axisCount = axis + 1;
-                emit axisCountChanged(_axisCount);
             }
         }
         
@@ -225,7 +227,7 @@ void JoystickConfigController::_saveAllTrims(void)
 {
     // We save all trims as the first step. At this point no axes are mapped but it should still
     // allow us to get good trims for the roll/pitch/yaw/throttle even though we don't know which
-    // axiss they are yet. AS we continue through the process the other axes will get their
+    // axis they are yet. As we continue through the process the other axes will get their
     // trims reset to correct values.
     
     for (int i=0; i<_axisCount; i++) {
@@ -249,6 +251,11 @@ void JoystickConfigController::_inputCenterWaitBegin(Joystick::AxisFunction_t fu
 
 bool JoystickConfigController::_stickSettleComplete(int axis, int value)
 {
+    if (!_validAxis(axis)) {
+        qCWarning(JoystickConfigControllerLog) << "Invalid axis axis:_axisCount" << axis << _axisCount;
+        return false;
+    }
+
     // We are waiting for the stick to settle out to a max position
     
     if (abs(_stickDetectValue - value) > _calSettleDelta) {
@@ -286,12 +293,17 @@ void JoystickConfigController::_inputStickDetect(Joystick::AxisFunction_t functi
 {
     qCDebug(JoystickConfigControllerLog) << "_inputStickDetect function:axis:value" << function << axis << value;
     
+    if (!_validAxis(axis)) {
+        qCWarning(JoystickConfigControllerLog) << "Invalid axis axis:_axisCount" << axis << _axisCount;
+        return;
+    }
+
     // If this axis is already used in a mapping we can't use it again
     if (_rgAxisInfo[axis].function != Joystick::maxFunction) {
         return;
     }
     
-    if (_stickDetectAxis == _axisMax) {
+    if (_stickDetectAxis == _axisNoAxis) {
         // We have not detected enough movement on a axis yet
         
         if (abs(_axisValueSave[axis] - value) > _calMoveDelta) {
@@ -335,12 +347,17 @@ void JoystickConfigController::_inputStickMin(Joystick::AxisFunction_t function,
 {
     qCDebug(JoystickConfigControllerLog) << "_inputStickMin function:axis:value" << function << axis << value;
     
+    if (!_validAxis(axis)) {
+        qCWarning(JoystickConfigControllerLog) << "Invalid axis axis:_axisCount" << axis << _axisCount;
+        return;
+    }
+
     // We only care about the axis mapped to the function we are working on
     if (_rgFunctionAxisMapping[function] != axis) {
         return;
     }
 
-    if (_stickDetectAxis == _axisMax) {
+    if (_stickDetectAxis == _axisNoAxis) {
         // Setup up to detect stick being pegged to extreme position
         if (_rgAxisInfo[axis].reversed) {
             if (value > _calCenterPoint + _calMoveDelta) {
@@ -386,12 +403,17 @@ void JoystickConfigController::_inputCenterWait(Joystick::AxisFunction_t functio
 {
     qCDebug(JoystickConfigControllerLog) << "_inputCenterWait function:axis:value" << function << axis << value;
     
+    if (!_validAxis(axis)) {
+        qCWarning(JoystickConfigControllerLog) << "Invalid axis axis:_axisCount" << axis << _axisCount;
+        return;
+    }
+
     // We only care about the axis mapped to the function we are working on
     if (_rgFunctionAxisMapping[function] != axis) {
         return;
     }
     
-    if (_stickDetectAxis == _axisMax) {
+    if (_stickDetectAxis == _axisNoAxis) {
         // Sticks have not yet moved close enough to center
         
         if (abs(_calCenterPoint - value) < _calRoughCenterDelta) {
@@ -412,7 +434,7 @@ void JoystickConfigController::_inputCenterWait(Joystick::AxisFunction_t functio
 void JoystickConfigController::_resetInternalCalibrationValues(void)
 {
     // Set all raw axiss to not reversed and center point values
-    for (int i=0; i<_axisMax; i++) {
+    for (int i=0; i<_axisCount; i++) {
         struct AxisInfo* info = &_rgAxisInfo[i];
         info->function = Joystick::maxFunction;
         info->reversed = false;
@@ -423,7 +445,7 @@ void JoystickConfigController::_resetInternalCalibrationValues(void)
     
     // Initialize attitude function mapping to function axis not set
     for (size_t i=0; i<Joystick::maxFunction; i++) {
-        _rgFunctionAxisMapping[i] = _axisMax;
+        _rgFunctionAxisMapping[i] = _axisNoAxis;
     }
     
     _signalAllAttiudeValueChanges();
@@ -436,16 +458,16 @@ void JoystickConfigController::_setInternalCalibrationValuesFromSettings(void)
     
     // Initialize all function mappings to not set
     
-    for (int i=0; i<_axisMax; i++) {
+    for (int i=0; i<_axisCount; i++) {
         struct AxisInfo* info = &_rgAxisInfo[i];
         info->function = Joystick::maxFunction;
     }
     
     for (size_t i=0; i<Joystick::maxFunction; i++) {
-        _rgFunctionAxisMapping[i] = _axisMax;
+        _rgFunctionAxisMapping[i] = _axisNoAxis;
     }
     
-    for (int axis=0; axis<_axisMax; axis++) {
+    for (int axis=0; axis<_axisCount; axis++) {
         struct AxisInfo* info = &_rgAxisInfo[axis];
         
         Joystick::Calibration_t calibration = joystick->getCalibration(axis);
@@ -472,7 +494,7 @@ void JoystickConfigController::_setInternalCalibrationValuesFromSettings(void)
 /// @brief Validates the current settings against the calibration rules resetting values as necessary.
 void JoystickConfigController::_validateCalibration(void)
 {
-    for (int chan = 0; chan<_axisMax; chan++) {
+    for (int chan = 0; chan<_axisCount; chan++) {
         struct AxisInfo* info = &_rgAxisInfo[chan];
         
         if (chan < _axisCount) {
@@ -521,7 +543,7 @@ void JoystickConfigController::_writeCalibration(void)
 
     _validateCalibration();
     
-    for (int axis=0; axis<_axisMax; axis++) {
+    for (int axis=0; axis<_axisCount; axis++) {
         Joystick::Calibration_t calibration;
         
         struct AxisInfo* info = &_rgAxisInfo[axis];
@@ -546,8 +568,6 @@ void JoystickConfigController::_writeCalibration(void)
 /// @brief Starts the calibration process
 void JoystickConfigController::_startCalibration(void)
 {
-    Q_ASSERT(_axisCount >= _axisMinimum);
-    
     _activeJoystick->startCalibrationMode(Joystick::CalibrationModeCalibrating);
     _resetInternalCalibrationValues();
     
@@ -580,7 +600,7 @@ void JoystickConfigController::_stopCalibration(void)
 void JoystickConfigController::_calSaveCurrentValues(void)
 {
 	qCDebug(JoystickConfigControllerLog) << "_calSaveCurrentValues";
-    for (int i = 0; i < _axisMax; i++) {
+    for (int i = 0; i < _axisCount; i++) {
         _axisValueSave[i] = _axisRawValue[i];
     }
 }
@@ -623,7 +643,7 @@ int JoystickConfigController::axisCount(void)
 
 int JoystickConfigController::rollAxisValue(void)
 {    
-    if (_rgFunctionAxisMapping[Joystick::rollFunction] != _axisMax) {
+    if (_rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis) {
         return _axisRawValue[Joystick::rollFunction];
     } else {
         return 1500;
@@ -632,7 +652,7 @@ int JoystickConfigController::rollAxisValue(void)
 
 int JoystickConfigController::pitchAxisValue(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::pitchFunction] != _axisMax) {
+    if (_rgFunctionAxisMapping[Joystick::pitchFunction] != _axisNoAxis) {
         return _axisRawValue[Joystick::pitchFunction];
     } else {
         return 1500;
@@ -641,7 +661,7 @@ int JoystickConfigController::pitchAxisValue(void)
 
 int JoystickConfigController::yawAxisValue(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::yawFunction] != _axisMax) {
+    if (_rgFunctionAxisMapping[Joystick::yawFunction] != _axisNoAxis) {
         return _axisRawValue[Joystick::yawFunction];
     } else {
         return 1500;
@@ -650,7 +670,7 @@ int JoystickConfigController::yawAxisValue(void)
 
 int JoystickConfigController::throttleAxisValue(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::throttleFunction] != _axisMax) {
+    if (_rgFunctionAxisMapping[Joystick::throttleFunction] != _axisNoAxis) {
         return _axisRawValue[Joystick::throttleFunction];
     } else {
         return 1500;
@@ -659,27 +679,27 @@ int JoystickConfigController::throttleAxisValue(void)
 
 bool JoystickConfigController::rollAxisMapped(void)
 {
-    return _rgFunctionAxisMapping[Joystick::rollFunction] != _axisMax;
+    return _rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis;
 }
 
 bool JoystickConfigController::pitchAxisMapped(void)
 {
-    return _rgFunctionAxisMapping[Joystick::pitchFunction] != _axisMax;
+    return _rgFunctionAxisMapping[Joystick::pitchFunction] != _axisNoAxis;
 }
 
 bool JoystickConfigController::yawAxisMapped(void)
 {
-    return _rgFunctionAxisMapping[Joystick::yawFunction] != _axisMax;
+    return _rgFunctionAxisMapping[Joystick::yawFunction] != _axisNoAxis;
 }
 
 bool JoystickConfigController::throttleAxisMapped(void)
 {
-    return _rgFunctionAxisMapping[Joystick::throttleFunction] != _axisMax;
+    return _rgFunctionAxisMapping[Joystick::throttleFunction] != _axisNoAxis;
 }
 
 bool JoystickConfigController::rollAxisReversed(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::rollFunction] != _axisMax) {
+    if (_rgFunctionAxisMapping[Joystick::rollFunction] != _axisNoAxis) {
         return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::rollFunction]].reversed;
     } else {
         return false;
@@ -688,7 +708,7 @@ bool JoystickConfigController::rollAxisReversed(void)
 
 bool JoystickConfigController::pitchAxisReversed(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::pitchFunction] != _axisMax) {
+    if (_rgFunctionAxisMapping[Joystick::pitchFunction] != _axisNoAxis) {
         return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::pitchFunction]].reversed;
     } else {
         return false;
@@ -697,7 +717,7 @@ bool JoystickConfigController::pitchAxisReversed(void)
 
 bool JoystickConfigController::yawAxisReversed(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::yawFunction] != _axisMax) {
+    if (_rgFunctionAxisMapping[Joystick::yawFunction] != _axisNoAxis) {
         return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::yawFunction]].reversed;
     } else {
         return false;
@@ -706,7 +726,7 @@ bool JoystickConfigController::yawAxisReversed(void)
 
 bool JoystickConfigController::throttleAxisReversed(void)
 {
-    if (_rgFunctionAxisMapping[Joystick::throttleFunction] != _axisMax) {
+    if (_rgFunctionAxisMapping[Joystick::throttleFunction] != _axisNoAxis) {
         return _rgAxisInfo[_rgFunctionAxisMapping[Joystick::throttleFunction]].reversed;
     } else {
         return false;
@@ -733,6 +753,10 @@ void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
     if (_activeJoystick) {
         joystickTransition = true;
         disconnect(_activeJoystick, &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged);
+        delete _rgAxisInfo;
+        delete _axisValueSave;
+        delete _axisRawValue;
+        _axisCount = 0;
         _activeJoystick = NULL;
     }
     
@@ -742,6 +766,15 @@ void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
             _stopCalibration();
         }
         _activeJoystick->startCalibrationMode(Joystick::CalibrationModeMonitor);
+        _axisCount = _activeJoystick->axisCount();
+        _rgAxisInfo = new struct AxisInfo[_axisCount];
+        _axisValueSave = new int[_axisCount];
+        _axisRawValue = new int[_axisCount];
         connect(_activeJoystick, &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged);
     }
 }
+
+bool JoystickConfigController::_validAxis(int axis)
+{
+    return axis >= 0 && axis < _axisCount;
+}

src/VehicleSetup/JoystickConfigController.h

@@ -54,9 +54,6 @@ public:
     JoystickConfigController(void);
     ~JoystickConfigController();
     
-    Q_PROPERTY(int minAxisCount MEMBER _axisMinimum CONSTANT)
-    Q_PROPERTY(int axisCount READ axisCount NOTIFY axisCountChanged)
-    
     Q_PROPERTY(QQuickItem* statusText   MEMBER _statusText)
     Q_PROPERTY(QQuickItem* cancelButton MEMBER _cancelButton)
     Q_PROPERTY(QQuickItem* nextButton   MEMBER _nextButton)
@@ -102,7 +99,6 @@ public:
     int axisCount(void);
     
 signals:
-    void axisCountChanged(int axisCount);
     void axisValueChanged(int axis, int value);
     
     void rollAxisMappedChanged(bool mapped);
@@ -171,6 +167,8 @@ private:
     void _advanceState(void);
     void _setupCurrentState(void);
     
+    bool _validAxis(int axis);
+
     void _inputCenterWaitBegin  (Joystick::AxisFunction_t function, int axis, int value);
     void _inputStickDetect      (Joystick::AxisFunction_t function, int axis, int value);
     void _inputStickMin         (Joystick::AxisFunction_t function, int axis, int value);
@@ -219,12 +217,13 @@ private:
 
     static const int _attitudeControls = 5;
     
-    int _axisCount;                     ///< Number of actual joystick axes available
-    static const int _axisMax = 4;      ///< Maximum number of supported joystick axes
-    static const int _axisMinimum = 4;  ///< Minimum numner of joystick axes required to run PX4
-    
-    struct AxisInfo _rgAxisInfo[_axisMax];  ///< Information associated with each axis
-    
+    int                 _axisCount;         ///< Number of actual joystick axes available
+    static const int    _axisNoAxis = -1;   ///< Signals no axis set
+    static const int    _axisMinimum = 4;   ///< Minimum numner of joystick axes required to run PX4
+    struct AxisInfo*    _rgAxisInfo;        ///< Information associated with each axis
+    int*                _axisValueSave;     ///< Saved values prior to detecting axis movement
+    int*                _axisRawValue;      ///< Current set of raw axis values
+
     enum calStates _calState;               ///< Current calibration state
     int     _calStateCurrentAxis;           ///< Current axis being worked on in calStateIdentify and calStateDetectInversion
     bool    _calStateAxisComplete;          ///< Work associated with current axis is complete
@@ -239,11 +238,7 @@ private:
     static const int _calRoughCenterDelta;
     static const int _calMoveDelta;
     static const int _calSettleDelta;
-    static const int _calMinDelta;
-    
-    int _axisValueSave[_axisMax];        ///< Saved values prior to detecting axis movement
-    
-    int _axisRawValue[_axisMax];         ///< Current set of raw axis values
+    static const int _calMinDelta;    
     
     int     _stickDetectAxis;
     int     _stickDetectInitialValue;