watchrobot/ArduSub/joystick.cpp

#include "Sub.h"

// Functions that will handle joystick/gamepad input
// ----------------------------------------------------------------------------

// Anonymous namespace to hold variables used only in this file
namespace {
float cam_tilt = 1500.0;
float cam_pan = 1500.0;

int16_t lights2 = 0;
int16_t rollTrim = 0;
int16_t pitchTrim = 0;
int16_t zTrim = 0;
int16_t xTrim = 0;
int16_t yTrim = 0;
int16_t video_switch = 1100;
int16_t x_last, y_last, z_last;
uint16_t buttons_prev;

// Servo control output channels
// TODO: Allow selecting output channels
const uint8_t SERVO_CHAN_1 = 9; // Pixhawk Aux1
const uint8_t SERVO_CHAN_2 = 10; // Pixhawk Aux2
const uint8_t SERVO_CHAN_3 = 11; // Pixhawk Aux3

uint8_t roll_pitch_flag = false; // Flag to adjust roll/pitch instead of forward/lateral
bool controls_reset_since_input_hold = true;
}

void Sub::init_joystick()
{
    default_js_buttons();

    lights1 = 0;
    lights2 = 0;

    set_mode(MANUAL, MODE_REASON_TX_COMMAND); // Initialize flight mode

    if (g.numGainSettings < 1) {
        g.numGainSettings.set_and_save(1);
    }

    if (g.numGainSettings == 1 || (g.gain_default < g.maxGain + 0.01 && g.gain_default > g.minGain - 0.01)) {
        gain = constrain_float(g.gain_default, g.minGain, g.maxGain); // Use default gain parameter
    } else {
        // Use setting closest to average of minGain and maxGain
        gain = g.minGain + (g.numGainSettings/2 - 1) * (g.maxGain - g.minGain) / (g.numGainSettings - 1);
    }

    gain = constrain_float(gain, 0.1, 1.0);
}
extern mavlink_rov_control_t rov_control;

void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
{

    float rpyScale = 0.5*gain; // Scale -1000-1000 to -400-400 with gain
    float throttleScale = 1.0*gain*g.throttle_gain; // Scale 0-1000 to 0-800 times gain
    int16_t rpyCenter = 1500;
    int16_t throttleBase = 1500-500*throttleScale;

    bool shift = false;

    // Neutralize camera tilt and pan speed setpoint
    cam_tilt = 1500;
    cam_pan = 1500;

    // Detect if any shift button is pressed
    for (uint8_t i = 0 ; i < 16 ; i++) {
        if ((buttons & (1 << i)) && get_button(i)->function() == JSButton::button_function_t::k_shift) {
            shift = true;
        }
    }

    // Act if button is pressed
    // Only act upon pressing button and ignore holding. This provides compatibility with Taranis as joystick.
    for (uint8_t i = 0 ; i < 16 ; i++) {
        if ((buttons & (1 << i))) {
            handle_jsbutton_press(i,shift,(buttons_prev & (1 << i)));
            // buttonDebounce = tnow_ms;
        } else if (buttons_prev & (1 << i)) {
            handle_jsbutton_release(i, shift);
        }
    }

    buttons_prev = buttons;

    // attitude mode:
    if (roll_pitch_flag == 1) {
    // adjust roll/pitch trim with joystick input instead of forward/lateral
        pitchTrim = -x * rpyScale;
        rollTrim  =  y * rpyScale;
    }

    uint32_t tnow = AP_HAL::millis();

    int16_t zTot;
    int16_t yTot;
    int16_t xTot;

    if (!controls_reset_since_input_hold) {
        zTot = zTrim + 500; // 500 is neutral for throttle
        yTot = yTrim;
        xTot = xTrim;
        // if all 3 axes return to neutral, than we're ready to accept input again
        controls_reset_since_input_hold = (abs(z - 500) < 50) && (abs(y) < 50) && (abs(x) < 50);
    } else {
        zTot = z + zTrim;
        yTot = y + yTrim;
        xTot = x + xTrim;
    }

    RC_Channels::set_override(0, constrain_int16(pitchTrim + rpyCenter,1000,2000), tnow); // pitch
    RC_Channels::set_override(1, constrain_int16(rollTrim  + rpyCenter,1000,2000), tnow); // roll

    RC_Channels::set_override(2, constrain_int16((zTot)*throttleScale+throttleBase,1000,2000), tnow); // throttle
    RC_Channels::set_override(3, constrain_int16(r*rpyScale+rpyCenter,1000,2000), tnow);                 // yaw

    // maneuver mode:
    if (roll_pitch_flag == 0) {
        // adjust forward and lateral with joystick input instead of roll and pitch
        RC_Channels::set_override(4, constrain_int16((xTot)*rpyScale+rpyCenter,1000,2000), tnow); // forward for ROV
        RC_Channels::set_override(5, constrain_int16((yTot)*rpyScale+rpyCenter,1000,2000), tnow); // lateral for ROV
    } else {
        // neutralize forward and lateral input while we are adjusting roll and pitch
        RC_Channels::set_override(4, constrain_int16(xTrim*rpyScale+rpyCenter,1000,2000), tnow); // forward for ROV
        RC_Channels::set_override(5, constrain_int16(yTrim*rpyScale+rpyCenter,1000,2000), tnow); // lateral for ROV
    }

    RC_Channels::set_override(6, cam_pan, tnow);       // camera pan
    RC_Channels::set_override(7, cam_tilt, tnow);      // camera tilt
   // RC_Channels::set_override(8, lights1, tnow);       // lights 1
  //  RC_Channels::set_override(9, lights2, tnow);       // lights 2
    RC_Channels::set_override(10, video_switch, tnow); // video switch
    
	//lights1 =constrain_int16(lights1, 0, 20000);
	lights2 =constrain_int16(lights2, 0, 20000);

    // Store old x, y, z values for use in input hold logic
    x_last = x;
    y_last = y;
    z_last = z;
}

void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
{
    // Used for trimming level in vehicle frame
    Quaternion attitudeTarget;
    attitudeTarget.from_euler(
        radians(last_roll * 0.01f),
        radians(last_pitch * 0.01f),
        radians(last_yaw * 0.01f)
        );
    Vector3f localPitch = Vector3f(0, 1, 0);
    Vector3f localRoll = Vector3f(1, 0, 0);
	
    // Act based on the function assigned to this button
    switch (get_button(button)->function(shift)) {
    case JSButton::button_function_t::k_arm_toggle:
        if (motors.armed()) {
            arming.disarm();
        } else {
            arming.arm(AP_Arming::Method::MAVLINK);
        }
        break;
    case JSButton::button_function_t::k_arm:
        arming.arm(AP_Arming::Method::MAVLINK);
        break;
    case JSButton::button_function_t::k_disarm:
		if (!held) {
			PressLevel = no;
			PressLevel_f =5.0;
			prepare_state = Horizontal;
			motor1_speed_target =0;
			motor2_speed_target =0;		
			track_motor_arm=1;
		}
        arming.disarm();
        break;

    case JSButton::button_function_t::k_mode_manual:
        set_mode(MANUAL, MODE_REASON_TX_COMMAND);
        break;
    case JSButton::button_function_t::k_mode_stabilize:
        set_mode(STABILIZE, MODE_REASON_TX_COMMAND);
        break;
    case JSButton::button_function_t::k_mode_depth_hold:
        set_mode(ALT_HOLD, MODE_REASON_TX_COMMAND);
        break;
    case JSButton::button_function_t::k_mode_auto:
        set_mode(AUTO, MODE_REASON_TX_COMMAND);
        break;
    case JSButton::button_function_t::k_mode_guided:
        set_mode(GUIDED, MODE_REASON_TX_COMMAND);
        break;
    case JSButton::button_function_t::k_mode_circle:
        set_mode(CIRCLE, MODE_REASON_TX_COMMAND);
        break;
    case JSButton::button_function_t::k_mode_acro:
        set_mode(ACRO, MODE_REASON_TX_COMMAND);
        break;
    case JSButton::button_function_t::k_mode_poshold:
        set_mode(POSHOLD, MODE_REASON_TX_COMMAND);
        break;
    case JSButton::button_function_t::k_mode_clean:
        set_mode(CLEAN, MODE_REASON_TX_COMMAND);
        break;
    case JSButton::button_function_t::k_mode_sport:
        set_mode(SPORT, MODE_REASON_TX_COMMAND);
        break;

    case JSButton::button_function_t::k_mount_center:
#if MOUNT == ENABLED
        camera_mount.set_angle_targets(0, 0, 0);
        // for some reason the call to set_angle_targets changes the mode to mavlink targeting!
        camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING);
#endif
        break;
    case JSButton::button_function_t::k_mount_tilt_up:
        cam_tilt = 1900;
        break;
    case JSButton::button_function_t::k_mount_tilt_down:
        cam_tilt = 1100;
        break;
    case JSButton::button_function_t::k_camera_trigger:
        break;
    case JSButton::button_function_t::k_camera_source_toggle:
        if (!held) {
            static bool video_toggle = false;
            video_toggle = !video_toggle;
            if (video_toggle) {
                video_switch = 1900;
                gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 2");
            } else {
                video_switch = 1100;
                gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 1");
            }
        }
        break;
    case JSButton::button_function_t::k_mount_pan_right:
        cam_pan = 1900;
        break;
    case JSButton::button_function_t::k_mount_pan_left:
        cam_pan = 1100;
        break;
    case JSButton::button_function_t::k_lights1_cycle:
         if (!held) {
		 	RC_Channel* chan = RC_Channels::rc_channel(8);
		 	uint16_t min = chan->get_radio_min();
            uint16_t max = chan->get_radio_max();
			 if(lights1 ==min){
			    lights1 = constrain_float(max, min, max);
       		 }
		   else{
			   lights1 = constrain_float(min, min, max);
		   }
			 gcs().send_text(MAV_SEVERITY_INFO,"min %d %d",rov_control.floodlight,lights1);
         }
        break;
    case JSButton::button_function_t::k_lights1_brighter:
        if (!held) {
            RC_Channel* chan = RC_Channels::rc_channel(8);
            uint16_t min = chan->get_radio_min();
            uint16_t max = chan->get_radio_max();
            uint16_t step = (max - min) / g.lights_steps;
            lights1 = constrain_float(lights1 + step, min, max);
        }
        break;
    case JSButton::button_function_t::k_lights1_dimmer:
        if (!held) {
            RC_Channel* chan = RC_Channels::rc_channel(8);
            uint16_t min = chan->get_radio_min();
            uint16_t max = chan->get_radio_max();
            uint16_t step = (max - min) / g.lights_steps;
            lights1 = constrain_float(lights1 - step, min, max);
        }
        break;
    case JSButton::button_function_t::k_lights2_cycle:
		if (!held) {
		   if(lights2 ==0){
			   lights2 = 20000;
			   sub.usblpoweroff = 1;
			   
		   }
		   else{
			   lights2 = 0;
			   sub.usblpoweroff = 0;
		   }


		   
		}

        break;
    case JSButton::button_function_t::k_lights2_brighter:
        if (!held) {
            RC_Channel* chan = RC_Channels::rc_channel(9);
            uint16_t min = chan->get_radio_min();
            uint16_t max = chan->get_radio_max();
            uint16_t step = (max - min) / g.lights_steps;
            lights2 = constrain_float(lights2 + step, min, max);
        }
        break;
    case JSButton::button_function_t::k_lights2_dimmer:
        if (!held) {
            RC_Channel* chan = RC_Channels::rc_channel(9);
            uint16_t min = chan->get_radio_min();
            uint16_t max = chan->get_radio_max();
            uint16_t step = (max - min) / g.lights_steps;
            lights2 = constrain_float(lights2 - step, min, max);
        }
        break;
    case JSButton::button_function_t::k_gain_toggle:
        if (!held) {
            static bool lowGain = false;
            lowGain = !lowGain;
            if (lowGain) {
                gain = 0.5f;
            } else {
                gain = 1.0f;
            }
            gcs().send_text(MAV_SEVERITY_INFO,"#Gain: %2.0f%%",(double)gain*100);
        }
        break;
    case JSButton::button_function_t::k_gain_inc:
		{
        {
			
			updowmgain=0.3;//下
			delaygain =0;
			
        }
        break;
		}
    case JSButton::button_function_t::k_gain_dec:
		{
		
        {
			updowmgain=0.7;
			delaygain =0;

        }
        break;
		}
	
    case JSButton::button_function_t::k_trim_roll_inc:
        attitudeTarget.rotate(localRoll * radians(1));
        last_roll = degrees(attitudeTarget.get_euler_roll()) * 100;
        last_pitch = degrees(attitudeTarget.get_euler_pitch()) * 100;
        last_yaw = degrees(attitudeTarget.get_euler_yaw()) * 100;
        break;
    case JSButton::button_function_t::k_trim_roll_dec:
        attitudeTarget.rotate(localRoll * radians(-1));
        last_roll = degrees(attitudeTarget.get_euler_roll()) * 100;
        last_pitch = degrees(attitudeTarget.get_euler_pitch()) * 100;
        last_yaw = degrees(attitudeTarget.get_euler_yaw()) * 100;
        break;
    case JSButton::button_function_t::k_trim_pitch_inc:
        attitudeTarget.rotate(localPitch * radians(1));
        last_roll = degrees(attitudeTarget.get_euler_roll()) * 100;
        last_pitch = degrees(attitudeTarget.get_euler_pitch()) * 100;
        last_yaw = degrees(attitudeTarget.get_euler_yaw()) * 100;
        break;
    case JSButton::button_function_t::k_trim_pitch_dec:
        attitudeTarget.rotate(localPitch * radians(-1));
        last_roll = degrees(attitudeTarget.get_euler_roll()) * 100;
        last_pitch = degrees(attitudeTarget.get_euler_pitch()) * 100;
        last_yaw = degrees(attitudeTarget.get_euler_yaw()) * 100;
        break;
    case JSButton::button_function_t::k_input_hold_set:
        if(!motors.armed()) {
            break;
        }
        if(roll_pitch_flag) {
            last_pitch = 0;
            last_roll = 0;
            last_input_ms = 0;
            break;
        }
        if (!held) {
            zTrim = abs(z_last-500) > 50 ? z_last-500 : 0;
            xTrim = abs(x_last) > 50 ? x_last : 0;
            yTrim = abs(y_last) > 50 ? y_last : 0;
            bool input_hold_engaged_last = input_hold_engaged;
            input_hold_engaged = zTrim || xTrim || yTrim;
            if (input_hold_engaged) {
                gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Set");
            } else if (input_hold_engaged_last) {
                gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Disabled");
            }
            controls_reset_since_input_hold = !input_hold_engaged;
        }
        break;
    case JSButton::button_function_t::k_relay_1_on:
        relay.on(0);
        break;
    case JSButton::button_function_t::k_relay_1_off:
        relay.off(0);
        break;
    case JSButton::button_function_t::k_relay_1_toggle:
        if (!held) {
            relay.toggle(0);
        }
        break;
    case JSButton::button_function_t::k_relay_1_momentary:
        if (!held) {
            relay.on(0);
        }
        break;
    case JSButton::button_function_t::k_relay_2_on:
        relay.on(1);
        break;
    case JSButton::button_function_t::k_relay_2_off:
        relay.off(1);
        break;
    case JSButton::button_function_t::k_relay_2_toggle:
        if (!held) {
            relay.toggle(1);
        }
        break;
    case JSButton::button_function_t::k_relay_2_momentary:
        if (!held) {
            relay.on(1);
        }
        break;
    case JSButton::button_function_t::k_relay_3_on:
        relay.on(2);
        break;
    case JSButton::button_function_t::k_relay_3_off:
        relay.off(2);
        break;
    case JSButton::button_function_t::k_relay_3_toggle:
        if (!held) {
            relay.toggle(2);
        }
        break;
    case JSButton::button_function_t::k_relay_3_momentary:
        if (!held) {
            relay.on(2);
        }
        break;
    case JSButton::button_function_t::k_relay_4_on:
        relay.on(3);
        break;
    case JSButton::button_function_t::k_relay_4_off:
        relay.off(3);
        break;
    case JSButton::button_function_t::k_relay_4_toggle:
        if (!held) {
            relay.toggle(3);
        }
        break;
    case JSButton::button_function_t::k_relay_4_momentary:
        if (!held) {
            relay.on(3);
        }
        break;

    ////////////////////////////////////////////////
    // Servo functions
    // TODO: initialize
    case JSButton::button_function_t::k_servo_1_inc:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
        uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_1 - 1); // 0-indexed
        pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
        ServoRelayEvents.do_set_servo(SERVO_CHAN_1, pwm_out); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_1_dec:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
        uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_1 - 1); // 0-indexed
        pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
        ServoRelayEvents.do_set_servo(SERVO_CHAN_1, pwm_out); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_1_min:
    case JSButton::button_function_t::k_servo_1_min_momentary:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_min()); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_1_min_toggle:
        if(!held) {
            SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
            if(chan->get_output_pwm() != chan->get_output_min()) {
                ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_min()); // 1-indexed
            } else {
                ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
            }
        }
        break;
    case JSButton::button_function_t::k_servo_1_max:
    case JSButton::button_function_t::k_servo_1_max_momentary:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_max()); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_1_max_toggle:
        if(!held) {
            SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
            if(chan->get_output_pwm() != chan->get_output_max()) {
                ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_max()); // 1-indexed
            } else {
                ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
            }
        }
        break;
    case JSButton::button_function_t::k_servo_1_center:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
    }
        break;

    case JSButton::button_function_t::k_servo_2_inc:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
        uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_2 - 1); // 0-indexed
        pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
        ServoRelayEvents.do_set_servo(SERVO_CHAN_2, pwm_out); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_2_dec:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
        uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_2 - 1); // 0-indexed
        pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
        ServoRelayEvents.do_set_servo(SERVO_CHAN_2, pwm_out); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_2_min:
    case JSButton::button_function_t::k_servo_2_min_momentary:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_min()); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_2_max:
    case JSButton::button_function_t::k_servo_2_max_momentary:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_max()); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_2_center:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed
    }
        break;

    case JSButton::button_function_t::k_servo_3_inc:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
        uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_3 - 1); // 0-indexed
        pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
        ServoRelayEvents.do_set_servo(SERVO_CHAN_3, pwm_out); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_3_dec:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
        uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_3 - 1); // 0-indexed
        pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
        ServoRelayEvents.do_set_servo(SERVO_CHAN_3, pwm_out); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_3_min:
    case JSButton::button_function_t::k_servo_3_min_momentary:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_min()); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_3_max:
    case JSButton::button_function_t::k_servo_3_max_momentary:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_max()); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_3_center:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
    }
        break;

    case JSButton::button_function_t::k_roll_pitch_toggle:
        if (!held) {
            roll_pitch_flag = !roll_pitch_flag;
        }
        break;

    case JSButton::button_function_t::k_custom_1:
        if (!held) 
		{
			if(control_mode == STABILIZE){
			//水平和竖直切换
				if (prepare_state == Horizontal)
				{
					prepare_state = Vertical;
					track_head_gd =0.0;
				}
				else if (prepare_state == Vertical)
				{
					prepare_state = Horizontal;
				
				}
				gcs().send_text(MAV_SEVERITY_INFO,"prepare_state: %d",(int)prepare_state);
			}
			else if(control_mode == ACRO){
					
				if(autoclean_command == FALSE){
					autoclean_command =TRUE;
				
				}else{
					autoclean_command =FALSE;
				}
				gcs().send_text(MAV_SEVERITY_INFO,"autoclean_flag: %d",(int)autoclean_command);
			}
		}
        break;
    case JSButton::button_function_t::k_custom_2:
       	if (!held) {
			//十级
			
			if(PressLevel == first)
			{
				PressLevel = second;
				 PressLevel_f = 0.5;//
			}else if(PressLevel == second){
				PressLevel = third;
				PressLevel_f = 1.0;//
			   
			}else if(PressLevel == third){
				PressLevel = forth;
				PressLevel_f = 1.8;//
			}else if (PressLevel == forth){
				PressLevel = fifth;
				PressLevel_f = 4.5;
			}else if(PressLevel == fifth){
				PressLevel = no;
				PressLevel_f = 5.0;	//
			}else if(PressLevel == no){
				PressLevel = sixth;
				PressLevel_f = 5.5;
			}else if (PressLevel == sixth){
				PressLevel = seventh;
				PressLevel_f = 8.2;
			}else if(PressLevel == seventh){
				PressLevel = eighth;
				PressLevel_f = 9.0;
			}else if (PressLevel == eighth){
				PressLevel = ninth;
				PressLevel_f = 9.5;
				
			}else if (PressLevel == ninth){
				PressLevel = tenth;
				PressLevel_f = 10.0;
			}else{
				PressLevel = tenth;
				PressLevel_f = 10.0;
			}
			gcs().send_text(MAV_SEVERITY_INFO,"%f level",(float)PressLevel_f);
		}
        break;
    case JSButton::button_function_t::k_custom_3:
        if (!held)
		 {//十级
		 
		 	if(PressLevel == tenth)
			 {
				 PressLevel = ninth;
				 PressLevel_f = 9.5;//8.9
			 }else if(PressLevel == ninth) {
				 PressLevel = eighth;
				 PressLevel_f = 9.0;//8.6
			 }else if(PressLevel == eighth){
				 PressLevel = seventh;
				 PressLevel_f = 8.2;//8.2
			 }else if (PressLevel == seventh){
				 PressLevel = sixth;
				  PressLevel_f = 5.5;//7.5
			 }else if(PressLevel == sixth){
				 PressLevel = no;
				  PressLevel_f = 5.0;//5.0
			 }else if(PressLevel == no){
				 PressLevel = fifth;
				 PressLevel_f = 4.5; //2.5
			 }else if (PressLevel == fifth){
				 PressLevel = forth;
				  PressLevel_f = 1.8;//1.8	 
			 }else if(PressLevel == forth){
				 PressLevel = third;
				  PressLevel_f = 1.0;//1.4
			 }else if (PressLevel == third){
				 PressLevel = second;
				  PressLevel_f = 0.5;	//1.1
			 }else if (PressLevel == second){
				 PressLevel = first;
				  PressLevel_f = 0.0;//0.9	 
			 }else{
				 PressLevel = first;
				  PressLevel_f = 0.0; //0.9
			 }
		 
		
			 gcs().send_text(MAV_SEVERITY_INFO,"%f level",(float)PressLevel_f);
		}
        break;
    case JSButton::button_function_t::k_custom_4:
        // Not implemented
        break;
    case JSButton::button_function_t::k_custom_5:
        // Not implemented
        break;
    case JSButton::button_function_t::k_custom_6:
        if (!held){
		  	if(clean_mode == 0){
				clean_mode =1;	
			}else{
				clean_mode =0;
			}
		  	
        } 
        break;
    }
}

void Sub::handle_jsbutton_release(uint8_t button, bool shift) {

    // Act based on the function assigned to this button
    switch (get_button(button)->function(shift)) {
    case JSButton::button_function_t::k_relay_1_momentary:
        relay.off(0);
        break;
    case JSButton::button_function_t::k_relay_2_momentary:
        relay.off(1);
        break;
    case JSButton::button_function_t::k_relay_3_momentary:
        relay.off(2);
        break;
    case JSButton::button_function_t::k_relay_4_momentary:
        relay.off(3);
        break;
    case JSButton::button_function_t::k_servo_1_min_momentary:
    case JSButton::button_function_t::k_servo_1_max_momentary:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_2_min_momentary:
    case JSButton::button_function_t::k_servo_2_max_momentary:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed
    }
        break;
    case JSButton::button_function_t::k_servo_3_min_momentary:
    case JSButton::button_function_t::k_servo_3_max_momentary:
    {
        SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
        ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
    }
        break;
    }
}

JSButton* Sub::get_button(uint8_t index)
{
    // Help to access appropriate parameter
    switch (index) {
    case 0:
        return &g.jbtn_0;
    case 1:
        return &g.jbtn_1;
    case 2:
        return &g.jbtn_2;
    case 3:
        return &g.jbtn_3;
    case 4:
        return &g.jbtn_4;
    case 5:
        return &g.jbtn_5;
    case 6:
        return &g.jbtn_6;
    case 7:
        return &g.jbtn_7;
    case 8:
        return &g.jbtn_8;
    case 9:
        return &g.jbtn_9;
    case 10:
        return &g.jbtn_10;
    case 11:
        return &g.jbtn_11;
    case 12:
        return &g.jbtn_12;
    case 13:
        return &g.jbtn_13;
    case 14:
        return &g.jbtn_14;
    case 15:
        return &g.jbtn_15;
    default:
        return &g.jbtn_0;
    }
}

void Sub::default_js_buttons()
{
    JSButton::button_function_t defaults[16][2] = {
        {JSButton::button_function_t::k_mode_clean,             JSButton::button_function_t::k_none},
        {JSButton::button_function_t::k_mode_manual,            JSButton::button_function_t::k_none},
        {JSButton::button_function_t::k_mode_depth_hold,        JSButton::button_function_t::k_none},
        {JSButton::button_function_t::k_mode_stabilize,         JSButton::button_function_t::k_none},

        {JSButton::button_function_t::k_disarm,                 JSButton::button_function_t::k_none},
        {JSButton::button_function_t::k_shift,                  JSButton::button_function_t::k_none},
        {JSButton::button_function_t::k_arm,                    JSButton::button_function_t::k_none},
        {JSButton::button_function_t::k_mount_center,           JSButton::button_function_t::k_none},

        {JSButton::button_function_t::k_input_hold_set,         JSButton::button_function_t::k_none},
        {JSButton::button_function_t::k_mount_tilt_down,        JSButton::button_function_t::k_mount_pan_left},
        {JSButton::button_function_t::k_mount_tilt_up,          JSButton::button_function_t::k_mount_pan_right},
        {JSButton::button_function_t::k_gain_inc,               JSButton::button_function_t::k_trim_pitch_dec},

        {JSButton::button_function_t::k_gain_dec,               JSButton::button_function_t::k_trim_pitch_inc},
        {JSButton::button_function_t::k_lights1_dimmer,         JSButton::button_function_t::k_trim_roll_dec},
        {JSButton::button_function_t::k_lights1_brighter,       JSButton::button_function_t::k_trim_roll_inc},
        {JSButton::button_function_t::k_none,                   JSButton::button_function_t::k_none},
    };

    for (int i = 0; i < 16; i++) {
        get_button(i)->set_default(defaults[i][0], defaults[i][1]);
    }
}

void Sub::set_neutral_controls()
{
    uint32_t tnow = AP_HAL::millis();

    for (uint8_t i = 0; i < 6; i++) {
        RC_Channels::set_override(i, 1500, tnow);
    }

    // Clear pitch/roll trim settings
    pitchTrim = 0;
    rollTrim  = 0;
}

void Sub::clear_input_hold()
{
    xTrim = 0;
    yTrim = 0;
    zTrim = 0;
    input_hold_engaged = false;
}