From 35c22b916b6dba90ecdf31ffd070ecbc6534fab8 Mon Sep 17 00:00:00 2001 From: ES-Alexander Date: Wed, 13 Dec 2023 01:17:20 +1100 Subject: [PATCH] advanced-usage: cover joystick protocols Documents: - bluerobotics/ardusub-zola#123 - bluerobotics/cockpit#554 - bluerobotics/cockpit#553 - bluerobotics/cockpit#452 --- advanced-usage/index.md | 92 +++++++++++++++++---- advanced-usage/joystick-button-mapping.png | Bin 0 -> 142189 bytes 2 files changed, 74 insertions(+), 18 deletions(-) create mode 100644 advanced-usage/joystick-button-mapping.png diff --git a/advanced-usage/index.md b/advanced-usage/index.md index 5a6d763..eb57a27 100644 --- a/advanced-usage/index.md +++ b/advanced-usage/index.md @@ -133,8 +133,10 @@ Multiple simultaneous tabs from the same browser instance will be supported in f - Open edit mode via the [burger menu](#burger-menu) - Select a view to edit, and/or create or remove views as desired - Views can be imported from an external file, or exported to a file for sharing - - Clicking on the cog settings icon allows renaming a view, and determining whether the bottom - bottom mini-widgets bar is shown or hidden/docked when Cockpit boots + - Clicking on the cog settings icon allows renaming a view, and determining whether the footer bar is + shown or hidden/docked when Cockpit boots + - It is always possible to toggle the current footer bar visibility using + [Cockpit Actions](#cockpit-actions) (e.g. via a joystick button) {{ easy_image(src="view-config", width=250, center=true) }} - The "Current widgets" list allows 1. dragging the widgets in the current view to reorder which widget is on top @@ -350,26 +352,80 @@ addresses, and refresh the page to establish the desired connection. ### Joysticks -Cockpit is intended to work with arbitrary joystick types, and allows mapping joystick buttons and axes -to [`BTNn_FUNCTION`](https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/parameters/#btnn-function-function-for-button) -values for use in regularly sent [`MANUAL_CONTROL`](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL) -MAVLink messages, as well as to Cockpit Actions which can send commands to the vehicle or trigger interface -events like like view switching or starting a video recording. +Cockpit is intended to work with arbitrary joystick types, and allows mapping joystick buttons and axes to +various [protocols](#joystick-protocols), which can send inputs and commands to the vehicle, or trigger +interface events. {{ easy_image(src="../getting-started/joystick-config", width=600, center=true) }} Support is built in for simultaneous input from multiple sources, including multiple joysticks, and by -default each joystick can provide up to 8 axis ranges and 32 buttons. As some caveats, - -- ArduSub only supports 16 independent buttons and 4 axis ranges in its `MANUAL_CONTROL` handling -- When mapping the Z motion axis range, note that ArduSub uses 0 to +1000 for full reverse to full forwards, -whereas other vehicle types use -1000 to +1000 -- Cockpit can assign a button to the "Shift" `BTNn_FUNCTION`, but is not currently capable of mapping -a secondary "shifted" autopilot action to its other buttons - - This currently needs to be set up separately, either directly using vehicle parameters, or using - an alternative control station software like QGroundControl -- Cockpit is currently only capable of mapping to `BTNn_FUNCTION` values that have already been assigned to -a button, which may need to be done in advance using parameters or QGroundControl +default each joystick can provide up to 8 axis ranges and 32 buttons. + +#### Joystick Protocols + +When mapping the functionality of a joystick button or axis, there are multiple protocols to choose from: + +{{ easy_image(src="joystick-button-mapping", width=500, center=true) }} + +##### MAVLink `MANUAL_CONTROL` Messages + +[`MANUAL_CONTROL`](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL) MAVLink messages are +automatically sent to the vehicle at 25Hz, which is not currently configurable. + +Button functions are determined by the autopilot firmware - e.g. in ArduSub they correspond to +[`BTNn_FUNCTION`](https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/parameters/#btnn-function-function-for-button) +parameter values. + +As a few caveats: +- ArduSub <= 4.1.x only supports 16 independent buttons and 4 axis ranges in its `MANUAL_CONTROL` handling + - More recent versions support the extended protocol, with 32 buttons and 6 motion axis inputs +- ArduRover does not support buttons via the `MANUAL_CONTROL` protocol +- When mapping the Z (vertical) motion axis range, note that ArduSub uses 0 to +1000 for full reverse to full + forwards, whereas other vehicle types use -1000 to +1000 + +The function mapping decision process is designed to minimise intrusiveness to existing setups. When mapping a +`MANUAL_CONTROL` button function to a joystick button, Cockpit +1. First tries to use already mapped functions + - e.g. if there is already a `BTNn_FUNCTION` configured to enable Stabilize mode, a Cockpit button being set + to enable Stabilize mode will map to that existing function bit +1. Then overwrites available Disabled `BTNn_FUNCTION`s +1. Then tries to overwrite any mapped function bits that Cockpit currently isn't using + - If you try to change a Cockpit function to a `MANUAL_CONTROL` function when there are no buttons left it + will display an error message about insufficient buttons + +It is permitted to map the joystick button functions without a vehicle connected, in which case any relevant +autopilot parameters will be automatically remapped once the vehicle connects. If more `MANUAL_CONTROL` button +functions have been assigned than are supported by the vehicle then the extra ones are removed, and a warning +is raised to notify that the configured mapping is not fully as designed. + +##### Cockpit Actions + +Joystick buttons can also be configured to run more general functionalities, like modifying the interface or +sending a single MAVLink message. The current supported Actions are: + +- `go_to_next_view` +- `go_to_previous_view` +- `toggle_bottom_bar` +- `toggle_full_screen` +- `mavlink_arm` +- `mavlink_disarm` + +##### Modifier Keys + +Modifiers allow sacrificing one button in order to add an extra functionality slot for every non-modifier button. +Pressing a button while a modifier is held runs the modified function instead of the regular button function. + +Currently only a single modifier is available (Shift). As a special case, when a shift functionality slot is +configured as a MAVLink `MANUAL_CONTROL` protocol function, it will activate `BTNn_SFUNCTION`s rather than the +regular `BTNn_FUNCTION`s, which allows additional `MANUAL_CONTROL` button functions to be configured. Functions +from other joystick protocols are unaffected, and can be arbitrarily assigned to regular or modifier-based +functionality slots. + +##### Other + +Currently only used for the "No Function" option. + +#### Custom Joysticks Adding support for a new joystick type requires providing an SVG file with particular element IDs (for function mapping, and so the elements can be dynamically filled when the corresponding button is pressed): diff --git a/advanced-usage/joystick-button-mapping.png b/advanced-usage/joystick-button-mapping.png new file mode 100644 index 0000000000000000000000000000000000000000..116fdadc9330c0c220cd8c227f2993fbd9626a54 GIT binary patch literal 142189 zcmeFZc|6oz|39vk5>mEgNs?qs_FV}fTlRH|kag_L7$Yf)kV}@VA^S4fvyCKFmceA- zcV;lQF=H9?d%N!Iy7c+ncm4DGejktTAGgOt^X@(8yv{kV^E$8fdA!usR--x1dYXcQ zf=2!Bo%<9NCy^8s$EK)G0&nx%9nIKz;+JKwiFb1U&h8$8t5;c zdqVa{UlinG;7gahC3EEcGY+LiLxbDrF1=dJn>4u!-l~& zzKDEjI}t*0Vd4lY%P~({N&PRUX=#tYXdh^3tM#WyEcb2a^(5_*$%YJ&y?a6wx;H+b 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