Joystick/Keyboard (Input control) is used to control vehicle or payload. Several input controls can be used simultaneously.
Control flow from input device should be sent to the vehicle only if:
- vehicle is under control of the operator;
- client window is active;
- vehicle is selected in UI.
'Keyboard' button allow to check connected devices, their mappings, calibration and to make settings Mission editor.
JOYSTICK mode control channel:
Joystick mode is inherently more fragile than direct manual control via RC transmitter as it involves many different data links and components:
Joystick device --> UgCS client --> server --> VSM --> Radio --> Radio --> Autopilot
If any of the above links fail, the joystick control will not work.
Fine-tuning axes via the GUI
Axis fine-tuning performed via interface. Click “Input mapping” button, located at the top right corner. Checkbox the desired controller and select the axis that requires tuning.
The window shows a list of the settings of the axis. Input and output axis of the profiles and devices. If the settings of axes more than fit the window to the right appears scroller.
Following actions can be performed:
- add configuration for the profile that does not yet have such an axis settings;
- add individual input button to configure axis;
- calibrate input device for this axis;
- delete added devices;
- configure boundaries and point zero, non-linearity and "deadband";
- check the results of device settings
Add axis settings for a profile, which does not yet have such settings
In the “Input” window, select the function which has no button (axis) assigned. For example. “Payload 1 – zoom” In the next module window, select the controller from dropdown menu located at the bottom left, and click “add axis”. Use the desired axis for the action on the controller. UgCS should detect it and notify operator with message “Currently detected: axis #” at the bottom. Click “Apply” and “Save”.
Single action button is being set up the same way as an axis. Select the single action function – Drop down menu, select controller – add axis and click “Cancel” instead the axis editing window, will appear single action editing window. Click “+” (plus) button, under “activation” sign at the top, right corner of modular window. Press the desired action button on the controller. UgCS will detect it and notify operator with the message “Currently detected #” at the bottom. Click “Apply” and “Save”.
Calibration of input devices for axles
Pressing the button "calibrate" (calibrate) enables the calibration mode. Movement along the axis of the device determines its minimum, maximum, and average values for the input. To accept or reject the changes will be prompted.
To remove entire axis or a single action button, use the trash bin pictogram located at the modular calibration window. (click the required action to open it). The button is located at the beginning of the line, next to the device name and profile for axis and at the end, for single action buttons. Until “Save” is pressed, all changes remain unsaved, window closes without saving.
Setting minimum, zero, peak, nonlinearity, the "dead zone"
These settings apply to the "input" signal from the control device in relation to the value of the main axis, and are displayed as numbers with two decimal places. It's possible to configure them manually. Minimum, zero, determine the maximum under what values on input, will -1, 0 and 1. Next, the output function is converted to a parameter with nonlinearity of the curve, and adjusted around the "deadband" to non-zero values started immediately behind the range (it is set to +-n around a given value of zero). Derived values are seen at the bottom, in the form of graphics input to the output. A line chart displays both the function and the current i/o device on it. The side graphics these same data displayed in numeric form.
Note: Features work with the keyboard!
For the keyboard has the following differences from other devices:
- Input axis search will not start when adding a keyboard;
- The current value is not displayed on the chart and calibration is not prompted;
- Input axis value zero, non-linearity and dead zone are not displayed