Copter: Cannot ARM/DISARM in MODE2 using the game controller

[muramura]

Bug report

Issue details

Game controller PS4 DUALSHOCK 4 is calibrated in MODE 2 and does not ARM or DISARM when operating ARM or DISARM with the stick

Version

ArduCopter V4.6.0-dev

Platform
[ ] All
[ ] AntennaTracker
[X] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

Airframe type

QUAD/X

Hardware type

STAMPFLY

Logs

NONE

[tpwrules]

The problem with game controllers is that they generally can't output minimum throttle and maximum yaw at the same time due to the circular aperture. I'm not sure this is Copter's fault, though the thresholds are fixed.

The software reading the controller and converting it into commands can calibrate or map differently to resolve this, though I don't know if any software supports that.

[rmackay9]

OK, if @tpwrules is right then the controller is probably internally converting the stick's square movements into a circle. AP also does this conversion and it's important because when you put the sticks in the corners you don't want the vehicle's lean angle to be ANGLE_MAX in both roll and pitch because that would result in a total lean angle of more than ANGLE_MAX

A solution could be to add an RC_OPTION to disable AP's conversion from square to circle

[tpwrules]

The sticks can't move in a square, they can only move in a circle. I don't think they are converting anything, unless you refer to the plastic of the controller housing.

I also think this conversion would happen after the check for arming. The arming check is simply min throttle and yaw channel > 88%.

Can you point me to the conversion?

[rmackay9]

Hi @tpwrules,

It's in AP_Math's control.h/cpp in the rc_input_to_roll_pitch() function

[peterbarker]

You should be able to arm in non-manual-throttle-modes if you mark the throttle as "sprung" using PILOT_THR_BHV

[peterbarker]

Another thought - not only could you not arm because the yaw wasn't at the limit - but your throttle would also probably be outside the deadzone, and that's not something we should bypass!