cleanup

4 files changed, 30 insertions, 26 deletions

diff --git a/Makefile b/Makefile
index 6e19cc3..c532dd3 100644
--- a/Makefile
+++ b/Makefile
@@ -8,7 +8,7 @@ LDFLAGS=-O2
 
 SOURCEDIRS=src
 INCLUDEDIRS=\
- include\
+ src/include\
  ext/mavlink/include
 
 SOURCES=$(foreach dir,$(SOURCEDIRS),$(wildcard $(dir)/*.c))
diff --git a/src/generic.c b/src/generic.c
index bf01e79..f81d86a 100644
--- a/src/generic.c
+++ b/src/generic.c
@@ -2,16 +2,24 @@
 #include <stdio.h>
 
 #define CHANNEL_THROTTLE 0
+#define CHANNEL_ATTITUDE_OFFSET 1
 
-#define THROTTLE_MIN 1000
+#define THROTTLE_MIN 500
 #define THROTTLE_MAX 2000
+#define THROTTLE_STEP_SMALL 10
+#define THROTTLE_STEP_LARGE 100
 
-//convert the value from an axis to an appropriate ppm value
-//between 1000 and 2000
-inline channel_t axis_to_channel(int value) {
+#define ATTITUDE_MIN 1000
+#define ATTITUDE_MAX 2000
+
+/* 
+ * convert the value from an axis to an appropriate ppm value
+ * between 1000 and 2000
+ */
+inline channel_t axis_to_attitude(int value) {
 	long centered = (long) value - AXIS_MIN;
-	long proportional = centered * 1000 / (AXIS_MAX - AXIS_MIN);
-	return (channel_t) 1000 + proportional;
+	long proportional = centered * ATTITUDE_MIN / (AXIS_MAX - AXIS_MIN);
+	return (channel_t) ATTITUDE_MAX - ATTITUDE_MIN + proportional;
 }
 
 void channel_reset(channel_t* channels) {
@@ -19,14 +27,16 @@ void channel_reset(channel_t* channels) {
 		channels[i] = CHANNEL_UNUSED;
 	}
 	channels[0] = THROTTLE_MIN;
-	channels[1] = 1500;
-	channels[2] = 1500;
-	channels[3] = 1500;
-	channels[4] = 1500;
+	channels[1] = ATTITUDE_MIN;
+	channels[2] = ATTITUDE_MIN;
+	channels[3] = ATTITUDE_MIN;
+	channels[4] = ATTITUDE_MIN;
 }
+
 void event_axis(channel_t* channels, int axis, int value) {
-	channels[axis+1] = axis_to_channel(value);
+	channels[CHANNEL_ATTITUDE_OFFSET+axis] = axis_to_attitude(value);
 }
+
 void event_button(channel_t* channels, int button, bool value) {
 	if (value) {
 		switch(button) {
@@ -34,18 +44,19 @@ void event_button(channel_t* channels, int button, bool value) {
 			channel_reset(channels);
 			break;
 		case 4:
-			channel_step(channels, CHANNEL_THROTTLE, -10, THROTTLE_MIN, THROTTLE_MAX);
+			channel_step(channels, CHANNEL_THROTTLE, -THROTTLE_STEP_SMALL, THROTTLE_MIN, THROTTLE_MAX);
 			break;
 		case 5:
-			channel_step(channels, CHANNEL_THROTTLE, 10, THROTTLE_MIN, THROTTLE_MAX);
+			channel_step(channels, CHANNEL_THROTTLE, THROTTLE_STEP_SMALL, THROTTLE_MIN, THROTTLE_MAX);
 			break;
 		case 6:
-			channel_step(channels, CHANNEL_THROTTLE, -100, THROTTLE_MIN, THROTTLE_MAX);
+			channel_step(channels, CHANNEL_THROTTLE, -THROTTLE_STEP_LARGE, THROTTLE_MIN, THROTTLE_MAX);
 			break;
 		case 7:
-			channel_step(channels, CHANNEL_THROTTLE, 100, THROTTLE_MIN, THROTTLE_MAX);
+			channel_step(channels, CHANNEL_THROTTLE, THROTTLE_STEP_LARGE, THROTTLE_MIN, THROTTLE_MAX);
 			break;
 		default:
+			printf("button unsupported %d\n", button);
 			break;
 		}
 	}
diff --git a/include/controller.h b/src/include/controller.h
index a74d035..a74d035 100644
--- a/include/controller.h
+++ b/src/include/controller.h
diff --git a/src/main.c b/src/main.c
index 6b281cf..7514645 100644
--- a/src/main.c
+++ b/src/main.c
@@ -28,7 +28,7 @@ static void mav_out(uint8_t system_id, uint8_t component_id, uint8_t rsystem_id,
 
 int main(int argc, char *argv[]) {
     
-    //initialize joystick libraryz
+    //initialize joystick library
     if (SDL_InitSubSystem(SDL_INIT_JOYSTICK) < 0) {
         fprintf(stderr, "Couldn't initialize SDL joystick subsystem: %s\n", SDL_GetError());
         exit(1);
@@ -126,7 +126,8 @@ static void mav_out(uint8_t system_id, uint8_t component_id, uint8_t rsystem_id,
     uint8_t buf[MAVLINK_MAX_PACKET_LEN];
 
     mavlink_msg_rc_channels_override_pack(
-        system_id, component_id,
+        system_id,
+        component_id,
         &msg,
         rsystem_id,
         MAV_COMP_ID_ALL,
@@ -152,12 +153,4 @@ static void mav_out(uint8_t system_id, uint8_t component_id, uint8_t rsystem_id,
         fprintf(stderr, "channel %zu: \t\t%u\n", i, channels[i]);
     }
     fprintf(stderr, "\n");
-
-
-    /*
-    mavlink_msg_rc_channels_override_pack(ALL)
-    fprintf(stdout, "%u\n", channels[0]);
-    fprintf(stderr, "channel 0: %u\n", channels[0]);
-    fflush(stdout);
-    fflush(stderr);*/
 }
\ No newline at end of file