Joystick Button Functions

Joystick buttons can be configured to perform different functions. Each button may be assigned a regular function and a shift function. To use shift functions, a button must be assigned the special shift function. The shift button will then act like a shift key on a keyboard; when held, it modifies the other buttons to execute their assigned shift functions. The available button functions are described below.

General

  • none: Do nothing, button is disabled
  • shift: When held, act as a shift modifier for other buttons
  • arm_toggle: Toggle the armed state of the vehicle
  • arm: Arm the vehicle
  • disarm: Disarm the vehicle
  • gain_toggle: Toggle between minimum and maximum pilot input gain sensitivity
  • gain_inc: Increase pilot input gain/sensitivity
  • gain_dec: Decrease pilot input gain/sensitivity
  • trim_roll_inc: Trim level target roll to the right
  • trim_roll_dec: Trim level target roll to the left
  • trim_pitch_inc: Trim level target pitch forward
  • trim_pitch_dec: Trim level target pitch backward
  • input_hold_toggle: Toggle holding current joystick axis inputs (cruise control on/off)
  • roll_pitch_toggle: Toggle between roll/pitch and forward/lateral control on joystick input

Mode Selection

These button functions will command a switch to the corresponding flight mode. Please note that the advanced modes are in development and are not recommended for general use.

Standard Modes

  • mode_manual
  • mode_stabilize
  • mode_depth_hold

Advanced Modes

  • mode_poshold
  • mode_auto
  • mode_circle
  • mode_guided
  • mode_acro

Camera Control

  • mount_center: Sets RC Input channel 8 pwm to the value configured by the CAM_TILT_CENTER parameter
  • mount_tilt_up: Increase RC Input channel 8 pwm by the amount configured by the JS_CAM_TILT_STEP parameter
  • mount_tilt_down: Decrease RC Input channel 8 pwm by the amount configured by the JS_CAM_TILT_STEP parameter
  • camera_trigger: Trigger cameras shutter NOT IMPLEMENTED
  • camera_source_toggle: Toggle video source, toggles RC Input channel 10 between 1100 and 1900 pwm
  • mount_pan_right: Pan mount right NOT IMPLEMENTED
  • mount_pan_left: Pan mount left NOT IMPLEMENTED

Lights Control

  • lights1_cycle: Increase or decrease RC Input channel 9 pwm by the amount configured by the JS_LIGHTS_STEP parameter, switches between increasing and increasing when output limits are reached
  • lights1_brighter: Increase RC Input channel 9 pwm by the amount configured by the JS_LIGHTS_STEP parameter
  • lights1_dimmer: Decrease RC Input channel 9 pwm by the amount configured by the JS_LIGHTS_STEP parameter

  • lights2_cycle: Increase or decrease RC Input channel 10 pwm by the amount configured by the JS_LIGHTS_STEP parameter, switches between increasing and increasing when output limits are reached

  • lights2_brighter: Increase RC Input channel 10 pwm by the amount configured by the JS_LIGHTS_STEP parameter
  • lights2_dimmer: Decrease RC Input channel 10 pwm by the amount configured by the JS_LIGHTS_STEP parameter

Relay Control

  • relay_1_on: Sets the pin configured by the RELAY_PIN parameter to output HIGH
  • relay_1_off: Sets the pin configured by the RELAY_PIN parameter to output LOW
  • relay_1_toggle: Toggles the state of the pin configured by the RELAY_PIN parameter

  • relay_1_on: Sets the pin configured by the RELAY_PIN2 parameter to output HIGH

  • relay_1_off: Sets the pin configured by the RELAY_PIN2 parameter to output LOW
  • relay_1_toggle: Toggles the state of the pin configured by the RELAY_PIN2 parameter

Servo Control

  • servo_1_inc: Increase Aux1 servo output by 50 pwm
  • servo_1_dec: Decrease Aux1 servo output by 50 pwm
  • servo_1_min: Set Aux1 servo output to the configured minimum pwm according to SERVO9_MIN
  • servo_1_max: Set Aux1 servo output to the configured maximum pwm according to SERVO9_MAX
  • servo_1_center: Set Aux1 servo output to the configured center according to SERVO9_TRIM

  • servo_2_inc: Increase Aux2 servo output by 50 pwm

  • servo_2_dec: Decrease Aux2 servo output by 50 pwm
  • servo_2_min: Set Aux2 servo output to the configured minimum pwm according to SERVO10_MIN
  • servo_2_max: Set Aux2 servo output to the configured maximum pwm according to SERVO10_MAX
  • servo_2_center: Set Aux2 servo output to the configured center according to SERVO10_TRIM

  • servo_3_inc: Increase Aux3 servo output by 50 pwm

  • servo_3_dec: Decrease Aux3 servo output by 50 pwm
  • servo_3_min: Set Aux3 servo output to the configured minimum pwm according to SERVO11_MIN
  • servo_3_max: Set Aux3 servo output to the configured maximum pwm according to SERVO11_MAX
  • servo_3_center: Set Aux3 servo output to the configured center according to SERVO11_TRIM

Custom

These are reserved for developer use, and do not do anything by default

  • custom_1
  • custom_2
  • custom_3
  • custom_4
  • custom_5
  • custom_6

Sponsored by Blue Robotics. Code released under the GPLv3 License. Documentation released under the CC-NC-SA 4.0.
Submit a Documentation GitHub Issue here to report any errors, suggestions, or missing information in this documentation.
Submit an ArduSub GitHub Issue here to report issues with the ArduSub software.

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