Paparazzi UAS  v5.15_devel-112-g521f3cf
Paparazzi is a free software Unmanned Aircraft System.
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joystick.c
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1 /*
2  * Copyright (C) 2019 Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  *
4  * This file is part of paparazzi
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
28 #include "subsystems/abi.h"
29 #include "pprzlink/dl_protocol.h"
30 #include "generated/airframe.h"
31 
33 
34 void joystick_init(void)
35 {
36  joystick.roll = 0;
37  joystick.pitch = 0;
38  joystick.yaw = 0;
39  joystick.throttle = 0;
40 }
41 
42 void joystick_parse(void)
43 {
44  if (DL_JOYSTICK_RAW_ac_id(dl_buffer) == AC_ID) {
45  joystick.roll = DL_JOYSTICK_RAW_roll(dl_buffer);
46  joystick.pitch = DL_JOYSTICK_RAW_pitch(dl_buffer);
47  joystick.yaw = DL_JOYSTICK_RAW_yaw(dl_buffer);
48  joystick.throttle = DL_JOYSTICK_RAW_throttle(dl_buffer);
50  }
51 }
52 
int32_t pitch
pitch command
Definition: joystick.h:36
Main include for ABI (AirBorneInterface).
int32_t roll
roll command
Definition: joystick.h:35
#define JOYSTICK_ID
struct Joystick joystick
Definition: joystick.c:32
int32_t yaw
yaw command
Definition: joystick.h:37
Joystick structure.
Definition: joystick.h:34
uint8_t dl_buffer[MSG_SIZE]
Definition: main_demo5.c:64
void joystick_parse(void)
JOYSTICK_RAW message parser if valid, send a JOYSTICK ABI message.
Definition: joystick.c:42
int32_t throttle
throttle command
Definition: joystick.h:38
void joystick_init(void)
Init function.
Definition: joystick.c:34