Restored range limiting to the throttle channel. Now if the UAS can't reverse, the throttle can be set to only use the positive range of the axis (useful with auto-centering control sticks) or to use the full range (for sticks that hold position).

src/input/JoystickInput.cc

@@ -37,7 +37,8 @@ JoystickInput::JoystickInput() :
     throttleAxis(-1),
     joystickName(""),
     joystickID(-1),
-    joystickNumButtons(0)
+    joystickNumButtons(0),
+    throttleAxisLimited(false)
 {
     loadSettings();
 
@@ -191,6 +192,7 @@ void JoystickInput::run()
         {
             // First emit the uncalibrated values for each axis based on their ID.
             // This is generally not used for controlling a vehicle, but a UI representation, so it being slightly off is fine.
+            // Here we map the joystick axis value into the initial range of [0:1].
             float axisValue = SDL_JoystickGetAxis(joystick, i);
             if (joystickAxesInverted[i])
             {
@@ -202,12 +204,20 @@ void JoystickInput::run()
             }
             axisValue = 1.0f - axisValue;
 
-            // Only map the throttle into [0:1] if the UAS can reverse.
+            // For non-throttle axes or if the UAS can reverse, go ahead and convert this into the range [-1:1].
             if (uasCanReverse || throttleAxis != i)
             {
                 axisValue = axisValue * 2.0f - 1.0f;
-            } else {
-                int a = 8;
+            }
+            // Otherwise if this vehicle can only go forward, but the axis is limited to only the positive range,
+            // scale this so the negative values are ignored for this axis and it's clamped to [0:1].
+            else if (throttleAxis == i && joystickAxesLimited[i])
+            {
+                axisValue = axisValue * 2.0f - 1.0f;
+                if (axisValue < 0.0f)
+                {
+                    axisValue = 0.0f;
+                }
             }
 
             // Bound rounding errors
@@ -217,6 +227,7 @@ void JoystickInput::run()
             {
                 joystickAxes[i] = axisValue;
                 emit axisValueChanged(i, axisValue);
+                qDebug() << "Axis " << i << ": " << axisValue;
             }
         }
 
@@ -272,8 +283,8 @@ void JoystickInput::setActiveJoystick(int id)
         joystick = NULL;
         joystickID = -1;
     }
-}
 
+    joystickID = id;
     joystick = SDL_JoystickOpen(joystickID);
     if (joystick && SDL_JoystickOpened(joystickID))
     {
@@ -286,6 +297,7 @@ void JoystickInput::setActiveJoystick(int id)
         // Update cached joystick values
         joystickAxes.clear();
         joystickAxesInverted.clear();
+        joystickAxesLimited.clear();
         for (int i = 0; i < joystickNumAxes; i++)
         {
             int axisValue = SDL_JoystickGetAxis(joystick, i);
@@ -293,6 +305,7 @@ void JoystickInput::setActiveJoystick(int id)
             emit axisValueChanged(i, axisValue);
 
             joystickAxesInverted.append(false);
+            joystickAxesLimited.append(false);
         }
         joystickButtons = 0;
         for (int i = 0; i < joystickNumButtons; i++)
@@ -345,6 +358,7 @@ void JoystickInput::setAxisMapping(int axis, JOYSTICK_INPUT_MAPPING newMapping)
             if (throttleAxis == axis)
             {
                 throttleAxis = -1;
+                joystickAxesLimited[axis] = false;
             }
             break;
     }
@@ -358,6 +372,14 @@ void JoystickInput::setAxisInversion(int axis, bool inverted)
     }
 }
 
+void JoystickInput::setAxisRangeLimit(int axis, bool limitRange)
+{
+    if (axis < joystickAxesLimited.size())
+    {
+        joystickAxesLimited[axis] = limitRange;
+    }
+}
+
 float JoystickInput::getCurrentValueForAxis(int axis)
 {
     if (axis < joystickAxes.size())

src/input/JoystickInput.h

@@ -159,6 +159,8 @@ protected:
 
     QList<float> joystickAxes; ///< The values of every axes during the last sample.
     QList<bool> joystickAxesInverted; ///< Whether each axis should be used inverted from what was reported.
+    QList<bool> joystickAxesLimited; ///< Whether each axis should be limited to only the positive range.
+    bool throttleAxisLimited; ///< Indicates if the throttle channel should be limited to mapping from a 0:1 range instead of -1:1. Useful for controlling throttle with an axis that autocenters.
     quint16 joystickButtons;   ///< The state of every button. Bitfield supporting 16 buttons with 1s indicating that the button is down.
     int xHat, yHat;            ///< The horizontal/vertical hat directions. Values are -1, 0, 1, with (-1,-1) indicating bottom-left.
 
@@ -233,6 +235,12 @@ public slots:
      * @param inverted True indicates inverted from normal. Varies by controller.
      */
     void setAxisInversion(int axis, bool inverted);
+    /**
+     * @brief Specify that an axis should only transmit the positive values. Useful for controlling throttle from auto-centering axes.
+     * @param axis Which axis has its range limited.
+     * @param limitRange If true only the positive half of this axis will be read.
+     */
+    void setAxisRangeLimit(int axis, bool limitRange);
 };
 
 #endif // _JOYSTICKINPUT_H_

src/ui/JoystickAxis.cc

@@ -1,10 +1,7 @@
 #include "JoystickAxis.h"
 #include "JoystickInput.h"
 #include "ui_JoystickAxis.h"
-<<<<<<< HEAD
 #include "UASManager.h"
-=======
->>>>>>> 64d0741ee82db3d5dac2108f3f6d03c6fa66e5c6
 #include <QString>
 
 JoystickAxis::JoystickAxis(int id, QWidget *parent) :
@@ -13,9 +10,11 @@ JoystickAxis::JoystickAxis(int id, QWidget *parent) :
     ui(new Ui::JoystickAxis)
 {
     ui->setupUi(this);
+    mappingComboBoxChanged(JoystickInput::JOYSTICK_INPUT_MAPPING_NONE);
     ui->label->setText(QString::number(id));
     connect(ui->comboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(mappingComboBoxChanged(int)));
     connect(ui->invertedCheckBox, SIGNAL(clicked(bool)), this, SLOT(inversionCheckBoxChanged(bool)));
+    connect(ui->rangeCheckBox, SIGNAL(clicked(bool)), this, SLOT(rangeCheckBoxChanged(bool)));
 }
 
 JoystickAxis::~JoystickAxis()
@@ -30,6 +29,14 @@ void JoystickAxis::setValue(float value)
 
 void JoystickAxis::mappingComboBoxChanged(int newMapping)
 {
+    if (newMapping == JoystickInput::JOYSTICK_INPUT_MAPPING_THROTTLE)
+    {
+        ui->rangeCheckBox->show();
+    }
+    else
+    {
+        ui->rangeCheckBox->hide();
+    }
     emit mappingChanged(id, (JoystickInput::JOYSTICK_INPUT_MAPPING)newMapping);
     this->setActiveUAS(UASManager::instance()->getActiveUAS());
 }
@@ -39,14 +46,24 @@ void JoystickAxis::inversionCheckBoxChanged(bool inverted)
     emit inversionChanged(id, inverted);
 }
 
+void JoystickAxis::rangeCheckBoxChanged(bool limited)
+{
+    emit rangeChanged(id, limited);
+}
+
 void JoystickAxis::setActiveUAS(UASInterface* uas)
 {
-    if (uas && !uas->systemCanReverse() && ui->comboBox->currentIndex() == JoystickInput::JOYSTICK_INPUT_MAPPING_THROTTLE)
+    // Set the throttle display to only positive if:
+    // * This is the throttle axis AND
+    // * The current UAS can't reverse OR there is no current UAS
+    if (((uas && !uas->systemCanReverse()) || !uas) && ui->comboBox->currentIndex() == JoystickInput::JOYSTICK_INPUT_MAPPING_THROTTLE)
     {
         ui->progressBar->setRange(0, 100);
+        ui->rangeCheckBox->show();
     }
     else
     {
         ui->progressBar->setRange(-100, 100);
+        ui->rangeCheckBox->hide();
     }
 }

src/ui/JoystickAxis.h

@@ -20,7 +20,9 @@ signals:
     /** @brief Signal a change in this axis' yaw/pitch/roll mapping */
     void mappingChanged(int id, JoystickInput::JOYSTICK_INPUT_MAPPING newMapping);
     /** @brief Signal a change in this axis' inversion status */
-    void inversionChanged(int id, bool);
+    void inversionChanged(int id, bool inversion);
+    /** @brief Signal a change in this axis' range setting. If limited is true then only the positive values should be read from this axis. */
+    void rangeChanged(int id, bool limited);
 
 public slots:
     /** @brief Update the displayed value of the included progressbar.
@@ -39,6 +41,8 @@ private slots:
     void mappingComboBoxChanged(int newMapping);
     /** @brief Emit signal when the inversion checkbox is changed. */
     void inversionCheckBoxChanged(bool inverted);
+    /** @brief Emit signal when the range checkbox is changed. */
+    void rangeCheckBoxChanged(bool inverted);
 };
 
 #endif // JOYSTICKAXIS_H

src/ui/JoystickAxis.ui

@@ -59,6 +59,9 @@
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
+     <property name="toolTip">
+      <string>Specify what property of the UAS this axis should command</string>
+     </property>
      <item>
       <property name="text">
        <string>--</string>
@@ -87,6 +90,13 @@
     </widget>
    </item>
    <item>
+    <widget class="QCheckBox" name="rangeCheckBox">
+     <property name="text">
+      <string>Half range</string>
+     </property>
+    </widget>
+   </item>
+   <item>
     <widget class="QProgressBar" name="progressBar">
      <property name="enabled">
       <bool>true</bool>
@@ -103,6 +113,9 @@
        <height>100</height>
       </size>
      </property>
+     <property name="toolTip">
+      <string>Only use the positive values from this axis for control</string>
+     </property>
      <property name="minimum">
       <number>-100</number>
      </property>
@@ -140,6 +153,9 @@
        <height>25</height>
       </size>
      </property>
+     <property name="toolTip">
+      <string>Reverse the values for this axis</string>
+     </property>
      <property name="text">
       <string>Inverted</string>
      </property>

src/ui/JoystickWidget.cc

@@ -144,6 +144,7 @@ void JoystickWidget::updateUIForJoystick(int id)
             axis->setValue(joystick->getCurrentValueForAxis(i));
             connect(axis, SIGNAL(mappingChanged(int,JoystickInput::JOYSTICK_INPUT_MAPPING)), this->joystick, SLOT(setAxisMapping(int,JoystickInput::JOYSTICK_INPUT_MAPPING)));
             connect(axis, SIGNAL(inversionChanged(int,bool)), this->joystick, SLOT(setAxisInversion(int,bool)));
+            connect(axis, SIGNAL(rangeChanged(int,bool)), this->joystick, SLOT(setAxisRangeLimit(int,bool)));
             connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), axis, SLOT(setActiveUAS(UASInterface*)));
             m_ui->axesLayout->addWidget(axis);
             axes.append(axis);