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Pull request overview
Adds support for “one-way” joystick axes during calibration (e.g., triggers/sliders) and introduces an optional mode to emit AUX1–AUX6 via RC_CHANNELS_OVERRIDE so companion/payload systems can observe AUX channel values.
Changes:
- Adds an “Unable” button during optional extension low-step calibration to allow one-sided axis calibration.
- Updates joystick axis normalization to handle one-sided calibrations and adds PWM mapping for AUX override output.
- Adds a new joystick setting/UI toggle to enable
RC_CHANNELS_OVERRIDEfor AUX1–AUX6 and implements the vehicle-side message send/release behavior.
Reviewed changes
Copilot reviewed 12 out of 12 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
test/Joystick/JoystickTest.cc |
Extends unit coverage for one-sided axis normalization in _adjustRange. |
src/Vehicle/VehicleSetup/RemoteControlCalibrationController.h |
Adds QML-facing API for “Unable” button visibility/click handling and optional-step skipping. |
src/Vehicle/VehicleSetup/RemoteControlCalibrationController.cc |
Implements optional-step skip logic and validation adjustments for one-sided extension channels. |
src/Vehicle/VehicleSetup/RemoteControlCalibration.qml |
Adds “Unable” button to the calibration UI, shown only on optional extension low steps. |
src/Vehicle/VehicleSetup/JoystickComponentSettings.qml |
Adds advanced setting checkbox to enable AUX RC_CHANNELS_OVERRIDE. |
src/Vehicle/Vehicle.h |
Adds new vehicle API for sending joystick AUX RC override data and tracks override active state. |
src/Vehicle/Vehicle.cc |
Implements RC_CHANNELS_OVERRIDE send/release logic for AUX channels. |
src/Settings/JoystickSettings.h |
Adds useRcOverrideForAuxChannels setting Fact. |
src/Settings/JoystickSettings.cc |
Registers the new joystick setting Fact. |
src/Settings/Joystick.SettingsGroup.json |
Defines metadata for the new setting (label/default). |
src/Joystick/Joystick.h |
Adds helper declaration for mapping joystick axis values to RC override PWM. |
src/Joystick/Joystick.cc |
Adds one-sided axis handling in _adjustRange, PWM conversion helper, and vehicle callout for AUX override. |
| 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); | ||
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| 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); | ||
| } | ||
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| return static_cast<uint16_t>(std::lround(std::clamp(pwmValue, 1000.0f, 2000.0f))); | ||
| } |
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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.
| 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); | ||
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| 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); | ||
| } | ||
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| return static_cast<uint16_t>(std::lround(std::clamp(pwmValue, 1000.0f, 2000.0f))); | ||
| } |
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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.
| 0, | ||
| 0, | ||
| static_cast<uint16_t>(UINT16_MAX - 1), | ||
| static_cast<uint16_t>(UINT16_MAX - 1), | ||
| 0, |
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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).
| channelEnabled[4] ? channelValues[4] : static_cast<uint16_t>(UINT16_MAX - 1), | ||
| channelEnabled[5] ? channelValues[5] : static_cast<uint16_t>(UINT16_MAX - 1), |
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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).
| 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), |
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Build ResultsPlatform Status
All builds passed. Pre-commit
Pre-commit hooks: 4 passed, 36 failed, 7 skipped. Test Resultslinux-coverage: 78 passed, 0 skipped Code CoverageCoverage: 58.0% No baseline available for comparison Artifact Sizes
Updated: 2026-04-10 18:34:38 UTC • Triggered by: MacOS |
Description
This solves #14274
1: Allows joysticks with "one way" axis, like "L2, R2" or playstation and other controllers, throttle sliders. if the user is unable to generate "opposite" input during calibration, the option is to click "unable".
2: This does not affect the standard 1-4 axis calibration, which still requires perfect input.
3: in advanced settings, there is a checkbox
This checkbox enables "RC_OVERRIDE" packets for the AUX channels.
This way, any payload can monitor RC_CHANNELS, and see not only MANUAL_CONTROL on ch 1-4 , but also the AUX channels (which are otherwise not emitted in the telemetry, and not observable by payload/companion computer)
Also: it solves
Type of Change
Testing
Platforms Tested
Flight Stacks Tested
Screenshots
Checklist
Related Issues
By submitting this pull request, I confirm that my contribution is made under the terms of the project's dual license (Apache 2.0 and GPL v3).