From 298169f0e06d78dbd2912a44d7e1e5d40ba0170a Mon Sep 17 00:00:00 2001
From: Shital Shah <shital@ShitalShah.com>
Date: Tue, 2 May 2017 19:29:56 -0700
Subject: [PATCH] include all RC buttons in joystick

---
 .../rosflight/RosFlightDroneController.hpp    |   2 +-
 .../rosflight/firmware/commonstate.hpp        |   4 ++--
 .../AirSim/Dependencies/x360ce/x360ce.ini     | Bin 4226 -> 4230 bytes
 .../Plugins/AirSim/Source/AirBlueprintLib.cpp |   2 +-
 .../AirSim/Source/MultiRotorConnector.cpp     |   6 +++++-
 5 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp b/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp
index ae686e9779..66aa3109ab 100644
--- a/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp
+++ b/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp
@@ -154,7 +154,7 @@ class RosFlightDroneController : public DroneControllerBase {
             board_->setInputChannel(5, switchToPwm(rcData.switch2));
             board_->setInputChannel(6, switchToPwm(rcData.switch3));
             board_->setInputChannel(7, switchToPwm(rcData.switch4));
-            board_->setInputChannel(8, switchToPwm(rcData.switch5));
+            board_->setInputChannel(8, switchToPwm(rcData.switch5)); //arm/disarm
         }
         //else we don't have RC data
     }
diff --git a/AirLib/include/controllers/rosflight/firmware/commonstate.hpp b/AirLib/include/controllers/rosflight/firmware/commonstate.hpp
index e8dbdbe887..f8cf199f27 100644
--- a/AirLib/include/controllers/rosflight/firmware/commonstate.hpp
+++ b/AirLib/include/controllers/rosflight/firmware/commonstate.hpp
@@ -31,11 +31,11 @@ class CommonState {
     }
     void set_disarm()
     {
-        _armed_state = armed_state_t::DISARMED;
+        setArmedState(armed_state_t::DISARMED);
     }
     void set_arm()
     {
-        _armed_state = armed_state_t::ARMED;
+        setArmedState(armed_state_t::ARMED);
     }
 
     static std::string stringf(const char* format, ...)
diff --git a/Unreal/Plugins/AirSim/Dependencies/x360ce/x360ce.ini b/Unreal/Plugins/AirSim/Dependencies/x360ce/x360ce.ini
index 04b80ff545a3c63d32bfeeaccd3997cf3efbb6fe..3c5d01c78eec46b5124db7d37bc59aa29fc27b36 100644
GIT binary patch
delta 95
zcmZotY*XA|!OCsKz{|kJ;KX3dU^3Z})tTE6%#Q@}jW_qQ?q_5)o!rPNJNW@S%j9=l
v3X?x@NKMw_Rszxzn;)=$Vq`R%e3kP%qxob(9_7vNxEh!kEjAbO3Nix#Q@0u^

delta 65
zcmZouY*O4{!OCgKz{|kJ;KX1%*_qXu-3ZK!oP3Z~c=ICGb&Q*X*xQ(x6B$e=-{kzh
Q`4ZP65XWqDDX$<i0QV*k^8f$<

diff --git a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp
index f125b76b9e..f70dc85242 100644
--- a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp
+++ b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp
@@ -33,7 +33,7 @@ void UAirBlueprintLib::LogMessage(const FString &prefix, const FString &suffix,
 
     FColor color;
     switch (level) {
-    case LogDebugLevel::Informational: color = FColor(100, 100, 250); break;
+    case LogDebugLevel::Informational: color = FColor::Blue; break;
     case LogDebugLevel::Success: color = FColor::Green; break;
     case LogDebugLevel::Failure: color = FColor::Red; break;
     case LogDebugLevel::Unimportant: color = FColor::Silver; break;
diff --git a/Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp b/Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp
index ace2e7080c..b5e760f07f 100644
--- a/Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp
+++ b/Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp
@@ -94,9 +94,13 @@ const msr::airlib::RCData& MultiRotorConnector::getRCData()
         rc_data_.switch1 = joystick_state_.left_trigger ? 1 : 0;
         rc_data_.switch2 = joystick_state_.right_trigger ? 1 : 0;
 
-        UAirBlueprintLib::LogMessage(FString("Joystick: "), 
+        UAirBlueprintLib::LogMessage(FString("Joystick (T,R,P,Y): "), 
             FString::SanitizeFloat(rc_data_.throttle) + ", " + FString::SanitizeFloat(rc_data_.roll) + ", " + FString::SanitizeFloat(rc_data_.pitch) + ", " + FString::SanitizeFloat(rc_data_.yaw), 
             LogDebugLevel::Informational);
+        UAirBlueprintLib::LogMessage(FString("Joystick (Switches): "), FString::FromInt(joystick_state_.buttons) + ", " + 
+            FString::FromInt(rc_data_.switch1) + ", " + FString::FromInt(rc_data_.switch2) + ", " + FString::FromInt(rc_data_.switch3) + ", " + FString::FromInt(rc_data_.switch4)
+            + ", " + FString::FromInt(rc_data_.switch5),
+            LogDebugLevel::Informational);
     }
     //else don't waste time