ArduSub: implement servo 2 and 3 min/max-toggle button functions

ArduPilot · May 22, 2024 · 50455d4 · 50455d4
1 parent 17083b5
commit 50455d4
Showing 1 changed file with 40 additions and 0 deletions.
diff --git a/ArduSub/joystick.cpp b/ArduSub/joystick.cpp
@@ -525,13 +525,33 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
         ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_min()); // 1-indexed
     }
         break;
+    case JSButton::button_function_t::k_servo_2_min_toggle:
+        if(!held) {
+            SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
+            if(chan->get_output_pwm() != chan->get_output_min()) {
+                ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_min()); // 1-indexed
+            } else {
+                ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed
+            }
+        }
+        break;
     case JSButton::button_function_t::k_servo_2_max:
     case JSButton::button_function_t::k_servo_2_max_momentary:
     {
         SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
         ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_max()); // 1-indexed
     }
         break;
+    case JSButton::button_function_t::k_servo_2_max_toggle:
+        if(!held) {
+            SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
+            if(chan->get_output_pwm() != chan->get_output_max()) {
+                ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_max()); // 1-indexed
+            } else {
+                ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed
+            }
+        }
+        break;
     case JSButton::button_function_t::k_servo_2_center:
     {
         SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
@@ -562,13 +582,33 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
         ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_min()); // 1-indexed
     }
         break;
+    case JSButton::button_function_t::k_servo_3_min_toggle:
+        if(!held) {
+            SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
+            if(chan->get_output_pwm() != chan->get_output_min()) {
+                ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_min()); // 1-indexed
+            } else {
+                ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
+            }
+        }
+        break;
     case JSButton::button_function_t::k_servo_3_max:
     case JSButton::button_function_t::k_servo_3_max_momentary:
     {
         SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
         ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_max()); // 1-indexed
     }
         break;
+    case JSButton::button_function_t::k_servo_3_max_toggle:
+        if(!held) {
+            SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
+            if(chan->get_output_pwm() != chan->get_output_max()) {
+                ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_max()); // 1-indexed
+            } else {
+                ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
+            }
+        }
+        break;
     case JSButton::button_function_t::k_servo_3_center:
     {
         SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed