Don't apply throttle deadband in ThrottleModeDownZero

src/Joystick/Joystick.cc

@@ -199,14 +199,12 @@ void Joystick::_saveSettings(void)
 }
 
 /// Adjust the raw axis value to the -1:1 range given calibration information
-float Joystick::_adjustRange(int value, Calibration_t calibration)
+float Joystick::_adjustRange(int value, Calibration_t calibration, bool withDeadbands)
 {
     float valueNormalized;
     float axisLength;
     float axisBasis;
 
-
-
     if (value > calibration.center) {
         axisBasis = 1.0f;
         valueNormalized = value - calibration.center;
@@ -217,7 +215,7 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
         axisLength =  calibration.center - calibration.min;
     }
 
-    if (_deadband) {
+    if (withDeadbands) {
         if (valueNormalized>calibration.deadband) valueNormalized-=calibration.deadband;
         else if (valueNormalized<-calibration.deadband) valueNormalized+=calibration.deadband;
         else valueNormalized = 0.f;
@@ -290,16 +288,16 @@ void Joystick::run(void)
 
         if (_calibrationMode != CalibrationModeCalibrating) {
             int     axis = _rgFunctionAxis[rollFunction];
-            float   roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
+            float   roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis], _deadband);
 
                     axis = _rgFunctionAxis[pitchFunction];
-            float   pitch = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
+            float   pitch = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis], _deadband);
 
                     axis = _rgFunctionAxis[yawFunction];
-            float   yaw = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
+            float   yaw = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis],_deadband);
 
                     axis = _rgFunctionAxis[throttleFunction];
-            float   throttle = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
+            float   throttle = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis], _throttleMode==ThrottleModeDownZero?false:_deadband);
 
             if ( _accumulator ) {
                 static float throttle_accu = 0.f;
@@ -546,6 +544,11 @@ void Joystick::setThrottleMode(int mode)
     }
 
     _throttleMode = (ThrottleMode_t)mode;
+
+    if (_throttleMode == ThrottleModeDownZero) {
+        setAccumulator(false);
+    }
+
     _saveSettings();
     emit throttleModeChanged(_throttleMode);
 }

src/Joystick/Joystick.h

@@ -143,7 +143,7 @@ signals:
 protected:
     void _saveSettings(void);
     void _loadSettings(void);
-    float _adjustRange(int value, Calibration_t calibration);
+    float _adjustRange(int value, Calibration_t calibration, bool withDeadbands);
     void _buttonAction(const QString& action);
     bool _validAxis(int axis);
     bool _validButton(int button);

src/VehicleSetup/JoystickConfig.qml

@@ -422,21 +422,6 @@ SetupPage {
                                     }
                                 }
 
-                                Row {
-                                    x:          20
-                                    width:      parent.width
-                                    spacing:    ScreenTools.defaultFontPixelWidth
-                                    visible:    _activeJoystick.throttleMode == 0
-
-                                    QGCCheckBox {
-                                        id:         deadband
-                                        checked:    controller.deadbandToggle
-                                        text:       qsTr("Deadbands")
-
-                                        onClicked:  controller.deadbandToggle = checked
-                                    }
-                                }
-
                                 QGCRadioButton {
                                     exclusiveGroup: throttleModeExclusiveGroup
                                     text:           qsTr("Full down stick is zero throttle")
@@ -490,6 +475,20 @@ SetupPage {
                                     onActivated: _activeVehicle.joystickMode = index
                                 }
                             }
+
+                            Row {
+                                width:      parent.width
+                                spacing:    ScreenTools.defaultFontPixelWidth
+                                visible:    advancedSettings.checked
+
+                                QGCCheckBox {
+                                    id:         deadband
+                                    checked:    controller.deadbandToggle
+                                    text:       qsTr("Deadbands")
+
+                                    onClicked:  controller.deadbandToggle = checked
+                                }
+                            }
                         }
                     } // Column - left column