int16_t hilsim_input_adjust(char* inChannelName, int delta)
{
switch (inChannelName[0]) {
case 't':
return hil_rc_input_adjust(inChannelName, THROTTLE_INPUT_CHANNEL, delta);
case 'r':
return hil_rc_input_adjust(inChannelName, RUDDER_INPUT_CHANNEL, delta);
case 'e':
return hil_rc_input_adjust(inChannelName, ELEVATOR_INPUT_CHANNEL, delta);
case 'a':
return hil_rc_input_adjust(inChannelName, AILERON_INPUT_CHANNEL, delta);
case 'm':
{
switch (delta) {
case 1: // switch mode to manual
udb_pwIn[MODE_SWITCH_INPUT_CHANNEL] = MODE_SWITCH_THRESHOLD_LOW - 1;
break;
case 2: // switch mode to stabilised
udb_pwIn[MODE_SWITCH_INPUT_CHANNEL] = MODE_SWITCH_THRESHOLD_LOW + 1;
break;
case 3: // switch mode to guided
udb_pwIn[MODE_SWITCH_INPUT_CHANNEL] = MODE_SWITCH_THRESHOLD_HIGH + 1;
break;
case 4: // switch mode to failsafe
udb_pwIn[FAILSAFE_INPUT_CHANNEL] = FAILSAFE_INPUT_MIN - 1;
break;
default:
break;
}
return udb_pwIn[MODE_SWITCH_INPUT_CHANNEL];
}
case 's': // centre the flight 'stick'
udb_pwIn[AILERON_INPUT_CHANNEL] = udb_pwTrim[AILERON_INPUT_CHANNEL];
udb_pwIn[ELEVATOR_INPUT_CHANNEL] = udb_pwTrim[ELEVATOR_INPUT_CHANNEL];
udb_pwIn[RUDDER_INPUT_CHANNEL] = udb_pwTrim[RUDDER_INPUT_CHANNEL];
printf("\naileron, elevator, rudder = %i, %i, %i\n", udb_pwIn[AILERON_INPUT_CHANNEL], udb_pwIn[ELEVATOR_INPUT_CHANNEL], udb_pwIn[RUDDER_INPUT_CHANNEL]);
return 0;
default:
return 0;
}
return 0;
}
void hilsim_handle_key_input(char c)
{
switch (c) {
case 107: // Numpad +
hil_rc_input_adjust("throttle", THROTTLE_INPUT_CHANNEL, KEYPRESS_INPUT_DELTA*2);
break;
case 109: // Numpad -
hil_rc_input_adjust("throttle", THROTTLE_INPUT_CHANNEL, -KEYPRESS_INPUT_DELTA*2);
break;
case 97: // Numpad 1
hil_rc_input_adjust("rudder", RUDDER_INPUT_CHANNEL, KEYPRESS_INPUT_DELTA);
break;
case 99: // Numpad 3
hil_rc_input_adjust("rudder", RUDDER_INPUT_CHANNEL, -KEYPRESS_INPUT_DELTA);
break;
case 104: // Numpad 8
hil_rc_input_adjust("elevator", ELEVATOR_INPUT_CHANNEL, KEYPRESS_INPUT_DELTA);
break;
case 98: // Numpad 2
hil_rc_input_adjust("elevator", ELEVATOR_INPUT_CHANNEL, -KEYPRESS_INPUT_DELTA);
break;
case 100: // Numpad 4
hil_rc_input_adjust("aileron", AILERON_INPUT_CHANNEL, KEYPRESS_INPUT_DELTA);
break;
case 102: // Numpad 6
hil_rc_input_adjust("aileron", AILERON_INPUT_CHANNEL, -KEYPRESS_INPUT_DELTA);
break;
case 101: // Numpad 5
printf("\naileron, elevator, rudder = 0%%\n");
udb_pwIn[AILERON_INPUT_CHANNEL] = udb_pwTrim[AILERON_INPUT_CHANNEL];
udb_pwIn[ELEVATOR_INPUT_CHANNEL] = udb_pwTrim[ELEVATOR_INPUT_CHANNEL];
udb_pwIn[RUDDER_INPUT_CHANNEL] = udb_pwTrim[RUDDER_INPUT_CHANNEL];
printf("\naileron, elevator, rudder = %i, %i, %i\n", udb_pwIn[AILERON_INPUT_CHANNEL], udb_pwIn[ELEVATOR_INPUT_CHANNEL], udb_pwIn[RUDDER_INPUT_CHANNEL]);
break;
case 35: // '1' Numpad End (switch mode to manual)
udb_pwIn[MODE_SWITCH_INPUT_CHANNEL] = MODE_SWITCH_THRESHOLD_LOW - 1;
break;
case 111: // '2' Numpad / (switch mode to stabilised)
udb_pwIn[MODE_SWITCH_INPUT_CHANNEL] = MODE_SWITCH_THRESHOLD_LOW + 1;
break;
case 106: // '3' Numpad * (switch mode to guided)
udb_pwIn[MODE_SWITCH_INPUT_CHANNEL] = MODE_SWITCH_THRESHOLD_HIGH + 1;
break;
case 36: // '4' Numpad Home (switch mode to failsafe)
udb_pwIn[FAILSAFE_INPUT_CHANNEL] = FAILSAFE_INPUT_MIN - 1;
break;
default:
break;
}
}
