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Joystick improvements #14275

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81 changes: 73 additions & 8 deletions src/Joystick/Joystick.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,7 @@ Joystick::Joystick(const QString &name, int axisCount, int buttonCount, int hatC
ensureFactThread(_joystickSettings.enableManualControlAux4());
ensureFactThread(_joystickSettings.enableManualControlAux5());
ensureFactThread(_joystickSettings.enableManualControlAux6());
ensureFactThread(_joystickSettings.useRcOverrideForAuxChannels());
}

// Changes to manual control extension settings require re-calibration
Expand Down Expand Up @@ -446,6 +447,7 @@ void Joystick::_loadFromSettingsIntoCalibrationData()
qCDebug(JoystickLog) << " enableManualControlAux4:" << _joystickSettings.enableManualControlAux4()->rawValue().toBool();
qCDebug(JoystickLog) << " enableManualControlAux5:" << _joystickSettings.enableManualControlAux5()->rawValue().toBool();
qCDebug(JoystickLog) << " enableManualControlAux6:" << _joystickSettings.enableManualControlAux6()->rawValue().toBool();
qCDebug(JoystickLog) << " useRcOverrideForAuxChannels:" << _joystickSettings.useRcOverrideForAuxChannels()->rawValue().toBool();

_loadAxisSettings(calibrated, transmitterMode);
_loadButtonSettings();
Expand Down Expand Up @@ -582,6 +584,7 @@ void Joystick::_saveFromCalibrationDataIntoSettings()
qCDebug(JoystickLog) << " enableManualControlAux4:" << _joystickSettings.enableManualControlAux4()->rawValue().toBool();
qCDebug(JoystickLog) << " enableManualControlAux5:" << _joystickSettings.enableManualControlAux5()->rawValue().toBool();
qCDebug(JoystickLog) << " enableManualControlAux6:" << _joystickSettings.enableManualControlAux6()->rawValue().toBool();
qCDebug(JoystickLog) << " useRcOverrideForAuxChannels:" << _joystickSettings.useRcOverrideForAuxChannels()->rawValue().toBool();
qCDebug(JoystickLog) << " transmitterMode:" << transmitterMode;

_clearAxisSettings();
Expand Down Expand Up @@ -811,7 +814,15 @@ float Joystick::_adjustRange(int value, const AxisCalibration_t &calibration, bo
float axisLength;
float axisBasis;

if (value > calibration.center) {
if (calibration.center == calibration.min) {
axisBasis = 1.0f;
valueNormalized = value - calibration.center;
axisLength = calibration.max - calibration.center;
} else if (calibration.center == calibration.max) {
axisBasis = -1.0f;
valueNormalized = calibration.center - value;
axisLength = calibration.center - calibration.min;
} else if (value > calibration.center) {
axisBasis = 1.0f;
valueNormalized = value - calibration.center;
axisLength = calibration.max - calibration.center;
Expand All @@ -821,6 +832,10 @@ float Joystick::_adjustRange(int value, const AxisCalibration_t &calibration, bo
axisLength = calibration.center - calibration.min;
}

if (axisLength <= 0.0f) {
return 0.0f;
}

float axisPercent;
if (withDeadbands) {
if (valueNormalized > calibration.deadband) {
Expand All @@ -842,6 +857,19 @@ float Joystick::_adjustRange(int value, const AxisCalibration_t &calibration, bo
return std::max(-1.0f, std::min(correctedValue, 1.0f));
}

uint16_t Joystick::_adjustRangeToRcOverridePwm(int value, const AxisCalibration_t &calibration, bool withDeadbands)
{
const float normalizedValue = _adjustRange(value, calibration, withDeadbands);
const bool oneSidedAxis = (calibration.center == calibration.min) || (calibration.center == calibration.max);

float pwmValue = 1500.0f + (std::clamp(normalizedValue, -1.0f, 1.0f) * 500.0f);
if (oneSidedAxis) {
pwmValue = 1000.0f + (std::clamp(normalizedValue, 0.0f, 1.0f) * 1000.0f);
}

return static_cast<uint16_t>(std::lround(std::clamp(pwmValue, 1000.0f, 2000.0f)));
}
Comment on lines +860 to +871
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Copilot AI Apr 10, 2026

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_adjustRangeToRcOverridePwm uses std::lround, but this translation unit doesn’t include <cmath>. Depending on indirect includes, this can fail to compile (or compile inconsistently across platforms/compilers). Add the proper standard header for std::lround.

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Comment on lines +860 to +871
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The new PWM mapping path (_adjustRangeToRcOverridePwm) is untested. There are existing unit tests for _adjustRange, so it would be good to add tests that verify the 1000–2000µs mapping for both normal (-1..1) and one-sided (0..1) axes, including reversed calibration.

Copilot uses AI. Check for mistakes.

void Joystick::_handleAxis()
{
const int axisDelay = static_cast<int>(1000.0 / _joystickSettings.axisFrequencyHz()->rawValue().toDouble());
Expand Down Expand Up @@ -883,6 +911,7 @@ void Joystick::_handleAxis()
bool negativeThrust = _joystickSettings.negativeThrust()->rawValue().toBool();
bool circleCorrection = _joystickSettings.circleCorrection()->rawValue().toBool();
bool throttleSmoothing = _joystickSettings.throttleSmoothing()->rawValue().toBool();
bool useRcOverrideForAuxChannels = _joystickSettings.useRcOverrideForAuxChannels()->rawValue().toBool();
double exponentialPercent = _joystickSettings.exponentialPct()->rawValue().toDouble();

if (_getJoystickAxisForAxisFunction(rollFunction) == kJoystickAxisNotAssigned ||
Expand Down Expand Up @@ -919,14 +948,22 @@ void Joystick::_handleAxis()
axisIndex = _getJoystickAxisForAxisFunction(rollExtensionFunction);
rollExtension = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
}
std::array<uint16_t, 6> auxOverrideValues{};
std::array<bool, 6> auxOverrideEnabled{};

float aux1 = qQNaN();
if (_joystickSettings.enableManualControlAux1()->rawValue().toBool()) {
if (_getJoystickAxisForAxisFunction(aux1ExtensionFunction) == kJoystickAxisNotAssigned) {
qCWarning(JoystickLog) << "Internal Error: Missing aux1 extension axis function mapping!";
return;
}
axisIndex = _getJoystickAxisForAxisFunction(aux1ExtensionFunction);
aux1 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
if (useRcOverrideForAuxChannels) {
auxOverrideValues[0] = _adjustRangeToRcOverridePwm(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
auxOverrideEnabled[0] = true;
} else {
aux1 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
}
}
float aux2 = qQNaN();
if (_joystickSettings.enableManualControlAux2()->rawValue().toBool()) {
Expand All @@ -935,7 +972,12 @@ void Joystick::_handleAxis()
return;
}
axisIndex = _getJoystickAxisForAxisFunction(aux2ExtensionFunction);
aux2 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
if (useRcOverrideForAuxChannels) {
auxOverrideValues[1] = _adjustRangeToRcOverridePwm(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
auxOverrideEnabled[1] = true;
} else {
aux2 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
}
}
float aux3 = qQNaN();
if (_joystickSettings.enableManualControlAux3()->rawValue().toBool()) {
Expand All @@ -944,7 +986,12 @@ void Joystick::_handleAxis()
return;
}
axisIndex = _getJoystickAxisForAxisFunction(aux3ExtensionFunction);
aux3 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
if (useRcOverrideForAuxChannels) {
auxOverrideValues[2] = _adjustRangeToRcOverridePwm(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
auxOverrideEnabled[2] = true;
} else {
aux3 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
}
}
float aux4 = qQNaN();
if (_joystickSettings.enableManualControlAux4()->rawValue().toBool()) {
Expand All @@ -953,7 +1000,12 @@ void Joystick::_handleAxis()
return;
}
axisIndex = _getJoystickAxisForAxisFunction(aux4ExtensionFunction);
aux4 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
if (useRcOverrideForAuxChannels) {
auxOverrideValues[3] = _adjustRangeToRcOverridePwm(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
auxOverrideEnabled[3] = true;
} else {
aux4 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
}
}
float aux5 = qQNaN();
if (_joystickSettings.enableManualControlAux5()->rawValue().toBool()) {
Expand All @@ -962,7 +1014,12 @@ void Joystick::_handleAxis()
return;
}
axisIndex = _getJoystickAxisForAxisFunction(aux5ExtensionFunction);
aux5 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
if (useRcOverrideForAuxChannels) {
auxOverrideValues[4] = _adjustRangeToRcOverridePwm(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
auxOverrideEnabled[4] = true;
} else {
aux5 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
}
}
float aux6 = qQNaN();
if (_joystickSettings.enableManualControlAux6()->rawValue().toBool()) {
Expand All @@ -971,7 +1028,12 @@ void Joystick::_handleAxis()
return;
}
axisIndex = _getJoystickAxisForAxisFunction(aux6ExtensionFunction);
aux6 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
if (useRcOverrideForAuxChannels) {
auxOverrideValues[5] = _adjustRangeToRcOverridePwm(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
auxOverrideEnabled[5] = true;
} else {
aux6 = _adjustRange(_getAxisValue(axisIndex), _rgCalibration[axisIndex], useDeadband);
}
}

if (throttleSmoothing) {
Expand Down Expand Up @@ -1023,7 +1085,8 @@ void Joystick::_handleAxis()
<< "aux3:" << aux3
<< "aux4:" << aux4
<< "aux5:" << aux5
<< "aux6:" << aux6;
<< "aux6:" << aux6
<< "useRcOverrideForAuxChannels:" << useRcOverrideForAuxChannels;

// NOTE: The buttonPressedBits going to MANUAL_CONTROL are currently used by ArduSub (and it only handles 16 bits)
// Set up button bitmap
Expand All @@ -1042,6 +1105,7 @@ void Joystick::_handleAxis()


vehicle->sendJoystickDataThreadSafe(roll, pitch, yaw, throttle, lowButtons, highButtons, pitchExtension, rollExtension, aux1, aux2, aux3, aux4, aux5, aux6);
vehicle->sendJoystickAuxRcOverrideThreadSafe(auxOverrideValues, auxOverrideEnabled, useRcOverrideForAuxChannels);
}
}

Expand Down Expand Up @@ -1145,6 +1209,7 @@ void Joystick::_stopPollingForConfiguration()
void Joystick::_stopAllPolling()
{
if (_pollingVehicle) {
_pollingVehicle->sendJoystickAuxRcOverrideThreadSafe({}, {}, false);
(void) disconnect(this, nullptr, _pollingVehicle, nullptr);
(void) disconnect(_pollingVehicle, &Vehicle::flightModesChanged, this, &Joystick::_flightModesChanged);
if (GimbalController *const gimbal = _pollingVehicle->gimbalController()) {
Expand Down
3 changes: 3 additions & 0 deletions src/Joystick/Joystick.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,8 @@
#include <QtGui/QVector3D>
#include <QtQmlIntegration/QtQmlIntegration>

#include <array>

#include "RemoteControlCalibrationController.h"
#include "Fact.h"
#include "JoystickSettings.h"
Expand Down Expand Up @@ -428,6 +430,7 @@ private slots:

/// Adjust the raw axis value to the -1:1 range given calibration information
float _adjustRange(int reversedAxisValue, const AxisCalibration_t &calibration, bool withDeadbands);
uint16_t _adjustRangeToRcOverridePwm(int value, const AxisCalibration_t &calibration, bool withDeadbands);

void _executeButtonAction(const QString &action, const ButtonEvent_t buttonEvent);
int _findAvailableButtonActionIndex(const QString &action);
Expand Down
7 changes: 7 additions & 0 deletions src/Settings/Joystick.SettingsGroup.json
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,13 @@
"default": false,
"label": "Enable manual control for Aux 6"
},
{
"name": "useRcOverrideForAuxChannels",
"shortDesc": "Use RC override for Aux channels",
"type": "bool",
"default": false,
"label": "Use RC override for Aux channels"
},
{
"name": "enableManualControlPitchExtension",
"shortDesc": "Enable manual control pitch extension",
Expand Down
1 change: 1 addition & 0 deletions src/Settings/JoystickSettings.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -34,5 +34,6 @@ DECLARE_SETTINGSFACT(JoystickSettings, enableManualControlAux3)
DECLARE_SETTINGSFACT(JoystickSettings, enableManualControlAux4)
DECLARE_SETTINGSFACT(JoystickSettings, enableManualControlAux5)
DECLARE_SETTINGSFACT(JoystickSettings, enableManualControlAux6)
DECLARE_SETTINGSFACT(JoystickSettings, useRcOverrideForAuxChannels)
DECLARE_SETTINGSFACT(JoystickSettings, enableManualControlPitchExtension)
DECLARE_SETTINGSFACT(JoystickSettings, enableManualControlRollExtension)
1 change: 1 addition & 0 deletions src/Settings/JoystickSettings.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ class JoystickSettings : public SettingsGroup
DEFINE_SETTINGFACT(enableManualControlAux4)
DEFINE_SETTINGFACT(enableManualControlAux5)
DEFINE_SETTINGFACT(enableManualControlAux6)
DEFINE_SETTINGFACT(useRcOverrideForAuxChannels)

private:
QString _joystickName;
Expand Down
86 changes: 86 additions & 0 deletions src/Vehicle/Vehicle.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -4156,6 +4156,92 @@ void Vehicle::sendJoystickDataThreadSafe(float roll, float pitch, float yaw, flo
sendMessageOnLinkThreadSafe(sharedLink.get(), message);
}

void Vehicle::sendJoystickAuxRcOverrideThreadSafe(const std::array<uint16_t, 6> &channelValues, const std::array<bool, 6> &channelEnabled, bool useRcOverride)
{
SharedLinkInterfacePtr sharedLink = vehicleLinkManager()->primaryLink().lock();
if (!sharedLink) {
qCDebug(VehicleLog) << "sendJoystickAuxRcOverrideThreadSafe: primary link gone!";
return;
}

if (sharedLink->linkConfiguration()->isHighLatency()) {
return;
}

bool anyEnabledChannel = false;
for (bool enabled : channelEnabled) {
if (enabled) {
anyEnabledChannel = true;
break;
}
}

if (!useRcOverride || !anyEnabledChannel) {
if (!_joystickAuxRcOverrideActive) {
return;
}

mavlink_message_t releaseMessage;
mavlink_msg_rc_channels_override_pack_chan(
static_cast<uint8_t>(MAVLinkProtocol::instance()->getSystemId()),
static_cast<uint8_t>(MAVLinkProtocol::getComponentId()),
sharedLink->mavlinkChannel(),
&releaseMessage,
static_cast<uint8_t>(_systemID),
static_cast<uint8_t>(_defaultComponentId),
UINT16_MAX,
UINT16_MAX,
UINT16_MAX,
UINT16_MAX,
0,
0,
0,
0,
static_cast<uint16_t>(UINT16_MAX - 1),
static_cast<uint16_t>(UINT16_MAX - 1),
0,
Comment on lines +4198 to +4202
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Copilot AI Apr 10, 2026

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The RC_CHANNELS_OVERRIDE packing uses UINT16_MAX - 1 (65534) for some “unused” channels (chan9/chan10), while other unused channels use 0. 65534 is not a standard MAVLink sentinel and is also far outside the valid 1000–2000µs PWM range, so if interpreted as an override it could produce an invalid command. Please use the MAVLink-defined ignore/release sentinel values consistently for all non-overridden channels (and consider using named constants to avoid mistakes).

Copilot uses AI. Check for mistakes.
0,
0,
0,
0,
0,
0,
0);
sendMessageOnLinkThreadSafe(sharedLink.get(), releaseMessage);
_joystickAuxRcOverrideActive = false;
return;
}

mavlink_message_t message;
mavlink_msg_rc_channels_override_pack_chan(
static_cast<uint8_t>(MAVLinkProtocol::instance()->getSystemId()),
static_cast<uint8_t>(MAVLinkProtocol::getComponentId()),
sharedLink->mavlinkChannel(),
&message,
static_cast<uint8_t>(_systemID),
static_cast<uint8_t>(_defaultComponentId),
UINT16_MAX,
UINT16_MAX,
UINT16_MAX,
UINT16_MAX,
channelEnabled[0] ? channelValues[0] : static_cast<uint16_t>(0),
channelEnabled[1] ? channelValues[1] : static_cast<uint16_t>(0),
channelEnabled[2] ? channelValues[2] : static_cast<uint16_t>(0),
channelEnabled[3] ? channelValues[3] : static_cast<uint16_t>(0),
channelEnabled[4] ? channelValues[4] : static_cast<uint16_t>(UINT16_MAX - 1),
channelEnabled[5] ? channelValues[5] : static_cast<uint16_t>(UINT16_MAX - 1),
Comment on lines +4231 to +4232
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Copilot AI Apr 10, 2026

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Same concern in the active override message: when Aux5/Aux6 are disabled, the code sends UINT16_MAX - 1 for chan9/chan10. Please verify the correct MAVLink sentinel for “ignore/release” on these fields and use it consistently (avoid 65534 unless the spec explicitly defines it).

Suggested change
channelEnabled[4] ? channelValues[4] : static_cast<uint16_t>(UINT16_MAX - 1),
channelEnabled[5] ? channelValues[5] : static_cast<uint16_t>(UINT16_MAX - 1),
channelEnabled[4] ? channelValues[4] : static_cast<uint16_t>(0),
channelEnabled[5] ? channelValues[5] : static_cast<uint16_t>(0),

Copilot uses AI. Check for mistakes.
0,
0,
0,
0,
0,
0,
0,
0);
sendMessageOnLinkThreadSafe(sharedLink.get(), message);
_joystickAuxRcOverrideActive = true;
}

void Vehicle::triggerSimpleCamera()
{
sendMavCommand(_defaultComponentId,
Expand Down
4 changes: 4 additions & 0 deletions src/Vehicle/Vehicle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,8 @@
#include <QtPositioning/QGeoCoordinate>
#include <QtQmlIntegration/QtQmlIntegration>

#include <array>

#include "HealthAndArmingCheckReport.h"
#include "MAVLinkStreamConfig.h"
#include "QGCMapCircle.h"
Expand Down Expand Up @@ -423,6 +425,7 @@ class Vehicle : public VehicleFactGroup, public VehicleTypes
void updateFlightDistance(double distance);

void sendJoystickDataThreadSafe (float roll, float pitch, float yaw, float thrust, quint16 buttons, quint16 buttons2, float pitchExtension, float rollExtension, float aux1, float aux2, float aux3, float aux4, float aux5, float aux6);
void sendJoystickAuxRcOverrideThreadSafe(const std::array<uint16_t, 6> &channelValues, const std::array<bool, 6> &channelEnabled, bool useRcOverride);

// Property accesors
int id() const{ return _systemID; }
Expand Down Expand Up @@ -1009,6 +1012,7 @@ void _activeVehicleChanged (Vehicle* newActiveVehicle);
bool _readyToFly = false;
bool _allSensorsHealthy = true;
bool _mavlinkSigning = false;
bool _joystickAuxRcOverrideActive = false;
QString _mavlinkSigningKeyName;

SysStatusSensorInfo _sysStatusSensorInfo;
Expand Down
7 changes: 7 additions & 0 deletions src/Vehicle/VehicleSetup/JoystickComponentSettings.qml
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Original file line number Diff line number Diff line change
Expand Up @@ -156,5 +156,12 @@ ColumnLayout {
fact: _joystickSettings.enableManualControlAux6
visible: fact.userVisible
}

FactCheckBoxSlider {
Layout.fillWidth: true
text: qsTr("RC_CHANNELS_OVERRIDE for AUX1-AUX6")
fact: _joystickSettings.useRcOverrideForAuxChannels
visible: fact.userVisible
}
}
}
6 changes: 6 additions & 0 deletions src/Vehicle/VehicleSetup/RemoteControlCalibration.qml
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Original file line number Diff line number Diff line change
Expand Up @@ -220,6 +220,12 @@ ColumnLayout {
onClicked: controller.cancelButtonClicked()
}

QGCButton {
text: qsTr("Unable")
visible: controller.unableButtonVisible
onClicked: controller.unableButtonClicked()
}

QGCButton {
id: nextButton
primary: true
Expand Down
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