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fix(Joystick): fix 0-to-MAX trigger axis calibration and UI preview #15032

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fix(Joystick): fix 0-to-MAX trigger axis calibration and UI preview #15032

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121 changes: 107 additions & 14 deletions src/Vehicle/VehicleSetup/RemoteControlCalibrationController.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -389,7 +389,9 @@ void RemoteControlCalibrationController::_setupCurrentState()

_saveCurrentRawValues();

_nextButton->setEnabled(state.nextButtonFn != nullptr);
_nextButton->setEnabled(state.nextButtonFn != nullptr ||
state.channelInputFn == &RemoteControlCalibrationController::_inputStickDetect ||
state.channelInputFn == &RemoteControlCalibrationController::_inputStickMin);
Comment on lines +392 to +394
emit oneSidedButtonVisibleChanged(oneSidedButtonVisible());
}

Expand Down Expand Up @@ -482,6 +484,70 @@ void RemoteControlCalibrationController::nextButtonClicked()
auto state = _getStateMachineEntry(_currentStep);
if (state.nextButtonFn) {
(this->*state.nextButtonFn)();
} else if (state.channelInputFn == &RemoteControlCalibrationController::_inputStickDetect) {
// Manual override for detecting which stick was moved (useful for 0-to-MAX axes like triggers)
int maxDelta = -1;
int detectedChannel = -1;

// Find the channel that moved the most from its initial saved position
for (int i = 0; i < _chanCount; i++) {
// Skip channels that are already mapped to a function
if (_rgChannelInfo[i].stickFunction != stickFunctionMax) {
continue;
}
int delta = abs(_channelRawValue[i] - _channelValueSave[i]);
if (delta > maxDelta) {
maxDelta = delta;
detectedChannel = i;
}
}

if (detectedChannel != -1) {
ChannelInfo *const info = &_rgChannelInfo[detectedChannel];
int value = _channelRawValue[detectedChannel];

_rgFunctionChannelMapping[state.stickFunction] = detectedChannel;
info->stickFunction = state.stickFunction;

// If current value is less than saved center/start value, it's reversed
info->channelReversed = value < _channelValueSave[detectedChannel];

if (info->channelReversed) {
info->channelMin = value;
} else {
info->channelMax = value;
}

qCDebug(RemoteControlCalibrationControllerLog) <<
QStringLiteral("Stick detected (forced) - function:channel:reversed:trim:%1").arg(info->channelReversed ? "min" : "max") <<
_stickFunctionToString(state.stickFunction) << detectedChannel << info->channelReversed << info->channelTrim <<
(info->channelReversed ? info->channelMin : info->channelMax);

_signalAllAttitudeValueChanges();
}
_advanceState();

} else if (state.channelInputFn == &RemoteControlCalibrationController::_inputStickMin) {
// Manual override for capturing the minimum/opposite extent of the stick
int channel = _rgFunctionChannelMapping[state.stickFunction];
if (channel != _chanMax) {
ChannelInfo *const info = &_rgChannelInfo[channel];
int value = _channelRawValue[channel];

if (info->channelReversed) {
info->channelMax = value;
} else {
info->channelMin = value;
}

// Check if this is throttle and set trim accordingly (only for pure RC mode)
if (!_joystickMode && state.stickFunction == stickFunctionThrottle) {
info->channelTrim = value;
}

qCDebug(RemoteControlCalibrationControllerLog) << "Settle complete (forced) - function:channel:min:max:trim" << _stickFunctionToString(state.stickFunction) << channel << info->channelMin << info->channelMax << info->channelTrim;
}
_advanceState();
}
}
}
Expand Down Expand Up @@ -579,9 +645,11 @@ void RemoteControlCalibrationController::_inputStickDetect(StickFunction stickFu
// this function is called for ALL channels, and some (like triggers) may rest at
// extreme positions. Requiring movement ensures we detect the correct channel.

if (abs(_channelValueSave[channel] - value) > _calMoveDelta) {
// Lower the required movement delta for Joysticks so half-axis triggers can auto-detect
int requiredDelta = _joystickMode ? 8000 : _calMoveDelta;

if (abs(_channelValueSave[channel] - value) > requiredDelta) {
// Stick has moved far enough to consider it as being selected for the function

qCDebug(RemoteControlCalibrationControllerLog) << "Starting settle wait - function:channel" << _stickFunctionToString(stickFunction) << channel;

// Setup up to detect stick being pegged to min or max value
Expand Down Expand Up @@ -626,14 +694,20 @@ void RemoteControlCalibrationController::_inputStickMin(StickFunction stickFunct
qCDebug(RemoteControlCalibrationControllerVerboseLog) << "_inputStickMin function:channel:value" << _stickFunctionToString(stickFunction) << channel << value;

if (_stickDetectChannel == _chanMax) {
// Lower the required movement delta for joysticks
int requiredDelta = _joystickMode ? 8000 : _calMoveDelta;

// For joysticks, check movement relative to where they held it during "Center Sticks"
int centerValue = _joystickMode ? _channelValueSave[channel] : _calCenterPoint;

if (_rgChannelInfo[channel].channelReversed) {
if (value > _calCenterPoint + _calMoveDelta) {
if (value > centerValue + requiredDelta) {
qCDebug(RemoteControlCalibrationControllerLog) << "Movement detected, starting settle wait";
_stickDetectChannel = channel;
_stickDetectValue = value;
}
} else {
if (value < _calCenterPoint - _calMoveDelta) {
if (value < centerValue - requiredDelta) {
qCDebug(RemoteControlCalibrationControllerLog) << "Movement detected, starting settle wait";
_stickDetectChannel = channel;
_stickDetectValue = value;
Expand Down Expand Up @@ -787,9 +861,12 @@ void RemoteControlCalibrationController::_validateAndAdjustCalibrationValues()
(channelInfo.channelMin <= _calValidMinValue);
const bool oneSidedExtension = positiveOnlyExtension || negativeOnlyExtension;

// Validate Min/Max values. Although the channel appears as available we still may
// not have good min/max/trim values for it. Set to defaults if needed.
if (!oneSidedExtension && (channelInfo.channelMin > _calValidMinValue || channelInfo.channelMax < _calValidMaxValue)) {
// A valid span implies the user actually moved the stick, even if it's shifted (like a 0-to-MAX trigger)
bool validSpan = (channelInfo.channelMax - channelInfo.channelMin) > 10000;

// Validate Min/Max values. Only reset to defaults if it's not a one-sided extension
// AND the span is invalid OR it completely fails basic sanity bounds.
if (!oneSidedExtension && !validSpan && (channelInfo.channelMin > _calValidMinValue || channelInfo.channelMax < _calValidMaxValue)) {
qCDebug(RemoteControlCalibrationControllerLog) << "resetting channel invalid min/max - chan:channelMin:calValidMinValue:channelMax:calValidMaxValue"
<< chan << channelInfo.channelMin << _calValidMinValue << channelInfo.channelMax << _calValidMaxValue;
channelInfo.channelMin = _calDefaultMinValue;
Expand All @@ -805,8 +882,16 @@ void RemoteControlCalibrationController::_validateAndAdjustCalibrationValues()
case stickFunctionYaw:
case stickFunctionRoll:
case stickFunctionPitch:
// Make sure trim is within min/max
channelInfo.channelTrim = std::clamp(channelInfo.channelTrim, channelInfo.channelMin, channelInfo.channelMax);
// Primary attitude controls MUST be two-sided (-MAX to +MAX) internally.
// If a trigger (0 to MAX) was calibrated, the center point captured during the
// "Center Sticks" phase will be near 0. We must force it to the true midpoint.
if (channelInfo.channelTrim <= channelInfo.channelMin + 2000 ||
channelInfo.channelTrim >= channelInfo.channelMax - 2000) {
channelInfo.channelTrim = channelInfo.channelMin + ((channelInfo.channelMax - channelInfo.channelMin) / 2);
} else {
// Make sure trim is within min/max
channelInfo.channelTrim = std::clamp(channelInfo.channelTrim, channelInfo.channelMin, channelInfo.channelMax);
}
break;
default:
// Non-attitude control channels have calculated trim
Expand Down Expand Up @@ -918,12 +1003,20 @@ void RemoteControlCalibrationController::_saveCurrentRawValues()
/// Adjust raw channel value for reversal if needed
int RemoteControlCalibrationController::_adjustChannelRawValue(const ChannelInfo& info, int rawValue) const
{
if (!info.channelReversed) {
return rawValue;
int value = rawValue;
if (info.channelReversed) {
const int invertedValue = info.channelMin + info.channelMax - rawValue;
value = std::clamp(invertedValue, info.channelMin, info.channelMax);
}

// For Joystick mode, the UI preview expects values scaled to the standard -32768 to 32767 range.
// If the physical axis is 0 to 32767 (like a trigger), this stretches it to fill the UI box.
if (_joystickMode && info.stickFunction != stickFunctionMax && info.channelMax > info.channelMin) {
float normalized = static_cast<float>(value - info.channelMin) / (info.channelMax - info.channelMin);
value = -32768 + static_cast<int>(normalized * 65535.0f);
}

const int invertedValue = info.channelMin + info.channelMax - rawValue;
return std::clamp(invertedValue, info.channelMin, info.channelMax);
return value;
}

void RemoteControlCalibrationController::_loadCalibrationUISettings()
Expand Down
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