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Sticks: change internal order and sign of stick positions

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This commit is contained in:
Matthias Grob
2025-09-18 15:50:10 +02:00
committed by Silvan Fuhrer
parent 234e4688b0
commit 5b94557310
2 changed files with 16 additions and 14 deletions
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src/lib/sticks/Sticks.hpp
+12 -10
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@@ -59,15 +59,17 @@ public:
bool isAvailable() { return _input_available; };
// Helper functions to get stick values more intuitively
float getRoll() const { return _positions(1); }
float getRollExpo() const { return math::expo_deadzone(_positions(1), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get()); }
float getPitch() const { return _positions(0); }
float getPitchExpo() const { return math::expo_deadzone(_positions(0), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get()); }
float getYaw() const { return _positions(3); }
float getYawExpo() const { return math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(), _param_man_deadzone.get()); }
float getThrottleZeroCentered() const { return -_positions(2); } // Convert Z-axis(down) command to Up-axis frame
float getThrottleZeroCenteredExpo() const { return -math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(), _param_man_deadzone.get()); }
const matrix::Vector2f getPitchRoll() { return _positions.slice<2, 1>(0, 0); }
float getRoll() const { return _positions(0); }
float getPitch() const { return _positions(1); }
float getYaw() const { return _positions(2); }
float getThrottleZeroCentered() const { return _positions(3); }
float getRollExpo() const { return math::expo_deadzone(getRoll(), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get()); }
float getPitchExpo() const { return math::expo_deadzone(getPitch(), _param_mpc_xy_man_expo.get(), _param_man_deadzone.get()); }
float getYawExpo() const { return math::expo_deadzone(getYaw(), _param_mpc_yaw_expo.get(), _param_man_deadzone.get()); }
float getThrottleZeroCenteredExpo() const { return math::expo_deadzone(getThrottleZeroCentered(), _param_mpc_z_man_expo.get(), _param_man_deadzone.get()); }
const matrix::Vector2f getPitchRoll() { return {getPitch(), getRoll()}; }
const matrix::Vector2f getPitchRollExpo() { return {getPitchExpo(), getRollExpo()}; }
const matrix::Vector<float, 6> &getAux() const { return _aux_positions; }
@@ -88,7 +90,7 @@ public:
private:
bool _input_available{false};
matrix::Vector4f _positions; ///< unmodified manual stick inputs that usually move vehicle in x, y, z and yaw direction
matrix::Vector4f _positions; ///< unmodified manual stick inputs roll, pitch, yaw ,throttle
matrix::Vector<float, 6> _aux_positions;