working (missing auto-adapt to number of vehicle buttons and m2r vers…

…ion)

src/libs/joystick/protocols.ts

@@ -33,6 +33,7 @@ export class MavlinkControllerState extends ProtocolControllerState {
   z: number
   r: number
   buttons: number
+  buttons2: number
   target: number
   public static readonly BUTTONS_PER_BITFIELD = 16
 
@@ -58,6 +59,17 @@ export class MavlinkControllerState extends ProtocolControllerState {
       buttons_int += buttonState * 2 ** i
     }
 
+    let buttons2_int = 0
+    for (let i = 16; i < 2 * MavlinkControllerState.BUTTONS_PER_BITFIELD; i++) {
+      let buttonState = 0
+      mapping.buttonsCorrespondencies.forEach((b, idx) => {
+        if (isMavlinkInput(b) && b.value === i && joystickState.buttons[idx]) {
+          buttonState = 1
+        }
+      })
+      buttons2_int += buttonState * 2 ** (i - 16)
+    }
+
     const xIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.X)
     const yIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.Y)
     const zIndex = mapping.axesCorrespondencies.findIndex((v) => isMavlinkInput(v) && v.value === MAVLinkAxis.Z)
@@ -76,6 +88,7 @@ export class MavlinkControllerState extends ProtocolControllerState {
     this.r = rIndex === undefined ? 0 : round(scale(joystickState.axes[rIndex] ?? 0, -1, 1, rLimits[0], rLimits[1]), 0)
 
     this.buttons = buttons_int
+    this.buttons2 = buttons2_int
     this.target = round(target, 0)
   }
 }
@@ -152,7 +165,7 @@ export enum MAVLinkAxis {
   R = 'r',
 }
 const mavlinkAvailableAxes = Object.values(MAVLinkAxis)
-export const mavlinkAvailableButtons = sequentialArray(16)
+export const mavlinkAvailableButtons = sequentialArray(32)
 
 const mavlinkAxesLimits = [-1000, 1000]
 export const protocolAxesLimits = (protocol: JoystickProtocol): number[] => {

src/libs/vehicle/ardupilot/ardupilot.ts

@@ -495,6 +495,7 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
       z: state.z,
       r: state.r,
       buttons: state.buttons,
+      buttons2: state.buttons2,
       target: 1,
     }
     this.write(manualControlMessage)