manual input: deadzones

1 files changed, 17 insertions, 7 deletions

diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp
index eddacf55f..475d0c4d2 100644
--- a/src/platforms/ros/nodes/manual_input/manual_input.cpp
+++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp
@@ -48,22 +48,28 @@ ManualInput::ManualInput() :
 	_joy_sub(_n.subscribe("joy", 1, &ManualInput::JoyCallback, this)),
 	_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 1))
 {
+	double dz_default = 0.2;
 	/* Load parameters, default values work for Microsoft XBox Controller */
 	_n.param("map_x", _param_axes_map[0], 4);
 	_n.param("scale_x", _param_axes_scale[0], 1.0);
 	_n.param("off_x", _param_axes_offset[0], 0.0);
+	_n.param("dz_x", _param_axes_dz[0], dz_default);
 
 	_n.param("map_y", _param_axes_map[1], 3);
 	_n.param("scale_y", _param_axes_scale[1], -1.0);
 	_n.param("off_y", _param_axes_offset[1], 0.0);
+	_n.param("dz_y", _param_axes_dz[1], dz_default);
 
 	_n.param("map_z", _param_axes_map[2], 2);
 	_n.param("scale_z", _param_axes_scale[2], -0.5);
-	_n.param("off_z", _param_axes_offset[2], 0.5);
+	_n.param("off_z", _param_axes_offset[2], -1.0);
+	_n.param("dz_z", _param_axes_dz[2], dz_default);
 
 	_n.param("map_r", _param_axes_map[3], 0);
 	_n.param("scale_r", _param_axes_scale[3], -1.0);
 	_n.param("off_r", _param_axes_offset[3], 0.0);
+	_n.param("dz_r", _param_axes_dz[3], dz_default);
+
 }
 
 void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
@@ -72,10 +78,10 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
 
 	/* Fill px4 manual control setpoint topic with contents from ros joystick */
 	/* Map sticks to x, y, z, r */
-	MapAxis(msg, _param_axes_map[0], _param_axes_scale[0], _param_axes_offset[0], msg_out.x);
-	MapAxis(msg, _param_axes_map[1], _param_axes_scale[1], _param_axes_offset[1], msg_out.y);
-	MapAxis(msg, _param_axes_map[2], _param_axes_scale[2], _param_axes_offset[2], msg_out.z);
-	MapAxis(msg, _param_axes_map[3], _param_axes_scale[3], _param_axes_offset[3], msg_out.r);
+	MapAxis(msg, _param_axes_map[0], _param_axes_scale[0], _param_axes_offset[0], _param_axes_dz[0], msg_out.x);
+	MapAxis(msg, _param_axes_map[1], _param_axes_scale[1], _param_axes_offset[1], _param_axes_dz[1], msg_out.y);
+	MapAxis(msg, _param_axes_map[2], _param_axes_scale[2], _param_axes_offset[2], _param_axes_dz[2], msg_out.z);
+	MapAxis(msg, _param_axes_map[3], _param_axes_scale[3], _param_axes_offset[3], _param_axes_dz[3], msg_out.r);
 	//ROS_INFO("x: %1.4f y: %1.4f z: %1.4f r: %1.4f", msg_out.x, msg_out.y, msg_out.z, msg_out.r);
 
 	/* Map buttons to switches */
@@ -93,9 +99,13 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
 	_man_ctrl_sp_pub.publish(msg_out);
 }
 
-void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset, float &out)
+void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset,
+		double deadzone, float &out)
 {
-	out = (float)(msg->axes[map_index] * scale + offset);
+	double val = msg->axes[map_index];
+	if (val + offset > deadzone || val + offset < -deadzone) {
+		out = (float)((val + offset)) * scale;
+	}
 }
 
 int main(int argc, char **argv)