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Fixed inverted controller mappings. #76

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Merged
tomasaas merged 1 commit into from
Jun 14, 2026
Merged

Fixed inverted controller mappings. #76

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6 changes: 3 additions & 3 deletions data/config.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,8 @@
]
},
"pid_setpoint_rates": {
"roll": 20.0,
"pitch": 20.0,
"yaw": 90.0
"roll": 45.0,
"pitch": 45.0,
"yaw": 60.0
}
}
26 changes: 13 additions & 13 deletions data/data.json
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
{
"imu": {
"yaw": -67.08,
"pitch": -1.1,
"roll": 179.3,
"yr": 0.18,
"pr": 0.15,
"rr": 0.3,
"ax": 0.085,
"ay": -0.004,
"az": -0.042
"yaw": -67.73,
"pitch": 9.46,
"roll": 161.53,
"yr": -0.13,
"pr": 0.37,
"rr": -0.11,
"ax": 0.11,
"ay": -0.009,
"az": 0.024
},
"9dof": {
"acceleration": {
Expand Down Expand Up @@ -74,14 +74,14 @@
"dptSet": 0.0
},
"resources": {
"sequence": 49,
"uptime_ms": 50908,
"cpu_percent": 5,
"sequence": 5873,
"uptime_ms": 5881564,
"cpu_percent": 4,
"heap_used_percent": 2,
"heap_free_kb": 501,
"heap_total_kb": 512,
"thread_count": 20,
"udp_rx_count": 900,
"udp_rx_count": 93052,
"udp_rx_errors": 0
},
"control_telemetry": {
Expand Down
128 changes: 128 additions & 0 deletions data/pid_configs.json
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Original file line number Diff line number Diff line change
Expand Up @@ -94,5 +94,133 @@
"ki": 0.0,
"kd": 0.0075
}
},
"temp1": {
"surge": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"sway": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"heave": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"roll": {
"kp": 0.0175,
"ki": 0.0,
"kd": 0.0016
},
"pitch": {
"kp": 0.012,
"ki": 0.0,
"kd": 0.0
},
"yaw": {
"kp": 0.008,
"ki": 0.0,
"kd": 0.0075
}
},
"temp2": {
"surge": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"sway": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"heave": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"roll": {
"kp": 0.01775,
"ki": 0.0,
"kd": 0.002
},
"pitch": {
"kp": 0.015,
"ki": 0.0,
"kd": 0.0
},
"yaw": {
"kp": 0.008,
"ki": 0.0,
"kd": 0.0075
}
},
"temp3": {
"surge": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"sway": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"heave": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"roll": {
"kp": 0.01775,
"ki": 0.0,
"kd": 0.0025
},
"pitch": {
"kp": 0.015,
"ki": 0.0,
"kd": 0.00175
},
"yaw": {
"kp": 0.008,
"ki": 0.0,
"kd": 0.0075
}
},
"temp4": {
"surge": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"sway": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"heave": {
"kp": 0.0,
"ki": 0.0,
"kd": 0.0
},
"roll": {
"kp": 0.01775,
"ki": 0.0,
"kd": 0.0025
},
"pitch": {
"kp": 0.015,
"ki": 0.0,
"kd": 0.00175
},
"yaw": {
"kp": 0.008,
"ki": 0.0,
"kd": 0.0075
}
}
}
25 changes: 13 additions & 12 deletions lib/controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -686,24 +686,25 @@ def update(self):

# --- BITMASK OUTPUT ----
# Read axes
heave = -self._read_axis(pygame.CONTROLLER_AXIS_RIGHTY, 3) # Right Y (inverted)
yaw = self._read_axis(pygame.CONTROLLER_AXIS_RIGHTX, 2) # Right X
right_x = self._read_axis(pygame.CONTROLLER_AXIS_RIGHTX, 2)
right_y = self._read_axis(pygame.CONTROLLER_AXIS_RIGHTY, 3)
r2 = self._read_trigger(pygame.CONTROLLER_AXIS_TRIGGERRIGHT, 5) # R2 trigger
l2 = self._read_trigger(pygame.CONTROLLER_AXIS_TRIGGERLEFT, 4) # L2 trigger
trigger_delta = l2 - r2
if abs(trigger_delta) > self.DEADZONE:
self.nudge_manipulator(trigger_delta, self.delay_ms / 1000)
# This runs while button 9 is held down L1 to make
# surge and sway controls toggleable to pitch and roll

left_shoulder = self._read_button(pygame.CONTROLLER_BUTTON_LEFTSHOULDER, 9)
if left_shoulder: # Pitch and roll control
pitch = -self._read_axis(pygame.CONTROLLER_AXIS_LEFTY, 1) # Left Y (inverted)
roll = self._read_axis(pygame.CONTROLLER_AXIS_LEFTX, 0) # Left X
surge = 0.0
sway = 0.0
else: # Surge and sway control
surge = -self._read_axis(pygame.CONTROLLER_AXIS_LEFTY, 1) # Left Y (inverted)
sway = self._read_axis(pygame.CONTROLLER_AXIS_LEFTX, 0) # Left X
surge = -self._read_axis(pygame.CONTROLLER_AXIS_LEFTY, 1) # Left Y (inverted)
sway = self._read_axis(pygame.CONTROLLER_AXIS_LEFTX, 0) # Left X
if left_shoulder:
heave = 0.0
yaw = 0.0
pitch = -right_y
roll = right_x
else:
heave = -right_y
yaw = -right_x
pitch = 0.0
roll = 0.0

Expand Down
18 changes: 11 additions & 7 deletions tests/test_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -138,7 +138,7 @@ def test_sdl_gamecontroller_mapping_normalizes_linux_playstation_layout(monkeypa
assert command["surge"] == pytest.approx(0.5, rel=1e-3)
assert command["sway"] == pytest.approx(0.25, rel=1e-3)
assert command["heave"] == pytest.approx(0.125, rel=1e-3)
assert command["yaw"] == pytest.approx(0.375, rel=1e-3)
assert command["yaw"] == pytest.approx(-0.375, rel=1e-3)
assert command["pitch"] == 0.0
assert command["roll"] == 0.0
assert command["manip"] == pytest.approx(-0.0144, rel=1e-3)
Expand All @@ -150,12 +150,14 @@ def test_sdl_gamecontroller_mapping_normalizes_linux_playstation_layout(monkeypa
assert status["buttons"][12] == 1.0


def test_sdl_left_shoulder_switches_left_stick_to_pitch_and_roll(monkeypatch):
def test_sdl_left_shoulder_switches_right_stick_to_pitch_and_roll(monkeypatch):
monkeypatch.setattr(pygame.event, "get", lambda: [])
sdl = FakeSdlController(
axes={
pygame.CONTROLLER_AXIS_LEFTX: -32768,
pygame.CONTROLLER_AXIS_LEFTY: 32767,
pygame.CONTROLLER_AXIS_LEFTX: 8192,
pygame.CONTROLLER_AXIS_LEFTY: -16384,
pygame.CONTROLLER_AXIS_RIGHTX: -32768,
pygame.CONTROLLER_AXIS_RIGHTY: 32767,
},
buttons={pygame.CONTROLLER_BUTTON_LEFTSHOULDER},
)
Expand All @@ -164,8 +166,10 @@ def test_sdl_left_shoulder_switches_left_stick_to_pitch_and_roll(monkeypatch):
ctrl.update()

command = ctrl.bm.calls[-1]
assert command["surge"] == 0.0
assert command["sway"] == 0.0
assert command["surge"] == pytest.approx(0.5, rel=1e-3)
assert command["sway"] == pytest.approx(0.25, rel=1e-3)
assert command["heave"] == 0.0
assert command["yaw"] == 0.0
assert command["pitch"] == -1.0
assert command["roll"] == -1.0
status = ctrl.get_input_status()
Expand Down Expand Up @@ -193,7 +197,7 @@ def test_raw_joystick_mapping_remains_available_for_unsupported_devices(monkeypa
assert command["surge"] == 0.5
assert command["sway"] == 0.25
assert command["heave"] == 0.2
assert command["yaw"] == 0.4
assert command["yaw"] == -0.4
assert command["manip"] == pytest.approx(-0.0144, rel=1e-3)
assert command["light"] == pytest.approx(0.1, rel=1e-3)
status = ctrl.get_input_status()
Expand Down
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