The program is located in sw/ground_segment/joystick. It should already be compiled with the top level make, you also can explicitly build it with make in sw/ground_segment/joystick
- the C library sdl_stick (using SDL)
- input2ivy (ocaml main program that uses sdl_stick)
- test_stick (a small C test program that display raw values of your joystick)
Configuration and use
Xml configuration file
Input2Ivy reads the configuration of your input device in a xml file located in conf/joystick. The format is as follow:
Start with the node 'joystick', no DTD yet.
<input> <axis index="0" name="roll"/> <axis index="1" name="pitch"/> <axis index="2" name="throttle"/> ... <button index="0" name="shoot"/> <button index="1" name="button1"/> <button index="2" name="button2"/> ... </input>
In this section, all the axis and buttons are described with an index and a name. Both have to be unique.
- the index is the actual axis or button number of your input device (you can use 'test_stick' to determine each index)
- the name is chosen by the user
<variables> <var name="mode" default="0"/> <set var="mode" value="0" on_event="button1"/> <set var="mode" value="1" on_event="button2 && shoot"/> ... </variables>
The section 'variables' allows to declare local variables to the program, those value can be changed based on inputs event. First you need to declare the variable with a default value (integer) and then each event is describe with the 'set' node. It is possible to use logical "C-like" expression for the event (&&, ||, <, >, ...).
<messages period="0.1"> <message class="datalink" name="RC_4CH" send_always="true"> <field name="mode" value="mode"/> <field name="throttle" value="Bound(0-ly,0,127)"/> <field name="roll" value="roll"/> <field name="yaw" value="yaw"/> <field name="pitch" value="pitch"/> </message> <message class="ground" name="JUMP_TO_BLOCK" on_event="shoot && button1"/> <field name="block_id" value="IndexOfBlock('land')"/> </message> <message class="ground" name="DL_SETTING" on_event="button2"> <field name="index" value="IndexOfSetting(kill_throttle)"/> <field name="value" value="1"/> </message> ... </messages>
The 'messages' section describes the messages sent to Ivy.
- the 'period' attribute define the period for sending the messages. A message is send only the at least one of its field has changed since last sending. Only messages with 'send_always="true"' are always sent.
- the 'message' node attributes are:
- class: the class of the message (defined in conf/messages.xml) (mandatory)
- name: the name of the message (defined in conf/messages.xml) (mandatory)
- send_always: always send message the 'period' frequency if set to "true" (optional)
- the 'messages' children are the field of the message as describe in conf/messages.xml, except for the field 'ac_id' that is automatically set if needed.
- the 'field' node attributes are:
- name: the name of the field (mandatory)
- value: the value to be sent (here, expressions can be used, see below) (mandatory)
Close 'joystick' node.
Expressions and functions
- parenthesis: (, )
- operators: +, -, *, % (divide, / is not allowed)
- logical, comparator: &&, ||, <, >
- Scale(x, min, max): scale the value in the given bounds (input bounds are [-127, 127]
- Fit(x, min, max, min_input, max_input): some as 'Scale' with custom input bounds
- Bound(x, min, max): bound the value between [min,max]
- PprzMode(x): returns 0 if input is less than -127/2, 2 if greater than 127/2, 1 otherwise
- JoystickId(): returns the joystick ID
First calibrate your joystick as described on the Joystick page.
In flight trimming is to be done...
$ ./sw/ground_segment/joystick/input2ivy [options] config_file.xml
The options are:
- -ac <AC name> the name of your aircraft (mandatory)
- -b <ivy_bus> the an ivy bus address (default address used if not set)
- -d <device_index> set the SDL device index (default is 0)
- for paparazzi versions older than v4.2 use: -d <device_name> set the device name (default is /dev/input/js0))
- -v verbose mode (can also be used to identify the channels)
- -id set the joystick ID (in range [0,255], a random value is chosen if not set)
Do not forget the configuration file name after the options.
Example invocation on Mac OS X using a SNES gamepad configuration as input:
$ ./sw/ground_segment/joystick/input2ivy -b 18.104.22.168:2010 -ac Teensy_Fly_Quad_Elle0_v1_2_214 -d 0 snes_gamepad.xml
Input2Ivy can be launched from the Paparazzi Center if your conf/control_panel.xml have the correct 'program' entry. (See conf/control_panel.xml.example)