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joystick: add "reverse" mode and "gain" functionality #2477

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1e458c8
joystick: migrate MANUAL_CONTROL axes to data lake
ES-Alexander Mar 7, 2026
6e676c3
stores: mainVehicle: expose autopilot info on the data-lake
ES-Alexander Mar 7, 2026
cbac8d6
src: add variable and actions for user reversing functionality
ES-Alexander Mar 7, 2026
c85b905
src: add variables and actions for pilot gain functionality
ES-Alexander Mar 10, 2026
810ef8f
joystick: add reversing and gain support by default
ES-Alexander Mar 7, 2026
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30 changes: 14 additions & 16 deletions src/assets/joystick-profiles.ts
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Original file line number Diff line number Diff line change
@@ -1,11 +1,9 @@
import { MavType } from '@/libs/connection/m2r/messages/mavlink2rest-enum'
import { JoystickModel } from '@/libs/joystick/manager'
import { availableCockpitActions } from '@/libs/joystick/protocols/cockpit-actions'
import {
availableMavlinkManualControlButtonFunctions,
mavlinkManualControlAxes,
} from '@/libs/joystick/protocols/mavlink-manual-control'
import { availableMavlinkManualControlButtonFunctions } from '@/libs/joystick/protocols/mavlink-manual-control'
import { modifierKeyActions, otherAvailableActions } from '@/libs/joystick/protocols/other'
import { joystickInputAxes } from '@/libs/joystick/protocols/predefined-resources'
import { getVehicleModeAction } from '@/libs/vehicle/ardupilot/common'
import { RoverMode } from '@/libs/vehicle/ardupilot/types/modes'
import { Type as VehicleType } from '@/libs/vehicle/vehicle'
Expand Down Expand Up @@ -33,10 +31,10 @@ export const cockpitStandardToProtocols: JoystickProtocolActionsMapping[] = [
name: 'ROV functions mapping',
hash: defaultRovMappingHash,
axesCorrespondencies: {
[JoystickAxis.A0]: { action: mavlinkManualControlAxes.axis_y, min: -1000, max: +1000 },
[JoystickAxis.A1]: { action: mavlinkManualControlAxes.axis_x, min: +1000, max: -1000 },
[JoystickAxis.A2]: { action: mavlinkManualControlAxes.axis_r, min: -1000, max: +1000 },
[JoystickAxis.A3]: { action: mavlinkManualControlAxes.axis_z, min: +1000, max: 0 },
[JoystickAxis.A0]: { action: joystickInputAxes.axis_y, min: -1000, max: +1000 },
[JoystickAxis.A1]: { action: joystickInputAxes.axis_x, min: +1000, max: -1000 },
[JoystickAxis.A2]: { action: joystickInputAxes.axis_r, min: -1000, max: +1000 },
[JoystickAxis.A3]: { action: joystickInputAxes.axis_z, min: +1000, max: 0 },
},
buttonsCorrespondencies: {
[CockpitModifierKeyOption.regular]: {
Expand Down Expand Up @@ -85,10 +83,10 @@ export const cockpitStandardToProtocols: JoystickProtocolActionsMapping[] = [
name: 'Boat functions mapping',
hash: defaultBoatMappingHash,
axesCorrespondencies: {
[JoystickAxis.A0]: { action: mavlinkManualControlAxes.axis_y, min: -1000, max: +1000 },
[JoystickAxis.A1]: { action: mavlinkManualControlAxes.axis_x, min: +1000, max: -1000 },
[JoystickAxis.A2]: { action: mavlinkManualControlAxes.axis_r, min: -1000, max: +1000 },
[JoystickAxis.A3]: { action: mavlinkManualControlAxes.axis_z, min: +1000, max: -1000 },
[JoystickAxis.A0]: { action: joystickInputAxes.axis_y, min: -1000, max: +1000 },
[JoystickAxis.A1]: { action: joystickInputAxes.axis_x, min: +1000, max: -1000 },
[JoystickAxis.A2]: { action: joystickInputAxes.axis_r, min: -1000, max: +1000 },
[JoystickAxis.A3]: { action: joystickInputAxes.axis_z, min: +1000, max: -1000 },
},
buttonsCorrespondencies: {
[CockpitModifierKeyOption.regular]: {
Expand Down Expand Up @@ -137,10 +135,10 @@ export const cockpitStandardToProtocols: JoystickProtocolActionsMapping[] = [
name: 'MAV functions mapping',
hash: defaultMavMappingHash,
axesCorrespondencies: {
[JoystickAxis.A0]: { action: mavlinkManualControlAxes.axis_r, min: -1000, max: +1000 },
[JoystickAxis.A1]: { action: mavlinkManualControlAxes.axis_z, min: +1000, max: 0 },
[JoystickAxis.A2]: { action: mavlinkManualControlAxes.axis_y, min: -1000, max: +1000 },
[JoystickAxis.A3]: { action: mavlinkManualControlAxes.axis_x, min: +1000, max: -1000 },
[JoystickAxis.A0]: { action: joystickInputAxes.axis_r, min: -1000, max: +1000 },
[JoystickAxis.A1]: { action: joystickInputAxes.axis_z, min: +1000, max: 0 },
[JoystickAxis.A2]: { action: joystickInputAxes.axis_y, min: -1000, max: +1000 },
[JoystickAxis.A3]: { action: joystickInputAxes.axis_x, min: +1000, max: -1000 },
},
buttonsCorrespondencies: {
[CockpitModifierKeyOption.regular]: {
Expand Down
10 changes: 3 additions & 7 deletions src/libs/joystick/protocols.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -4,17 +4,13 @@ import { availableCockpitActions } from './protocols/cockpit-actions'
import { availableDataLakeActions } from './protocols/data-lake'
import {
availableMavlinkManualControlButtonFunctions,
mavlinkManualControlAxes,
migrateMavlinkManualControlAxes,
migrateMavlinkManualControlButtons,
} from './protocols/mavlink-manual-control'
import { modifierKeyActions, otherAvailableActions } from './protocols/other'

export const allAvailableAxes = (): ProtocolAction[] => {
return [
...Object.values(mavlinkManualControlAxes),
...Object.values(availableDataLakeActions()),
otherAvailableActions.no_function,
]
return [...Object.values(availableDataLakeActions()), otherAvailableActions.no_function]
}

export const allAvailableButtons = (): ProtocolAction[] => {
Expand All @@ -30,5 +26,5 @@ export const allAvailableButtons = (): ProtocolAction[] => {
export const performJoystickMappingMigrations = (
mappings: JoystickProtocolActionsMapping[]
): JoystickProtocolActionsMapping[] => {
return migrateMavlinkManualControlButtons(mappings)
return migrateMavlinkManualControlAxes(migrateMavlinkManualControlButtons(mappings))
}
10 changes: 10 additions & 0 deletions src/libs/joystick/protocols/cockpit-actions.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,11 @@ export const CockpitActionsFunction = {
toggle_recording_all_streams: 'toggle_recording_all_streams',
take_snapshot: 'take_snapshot',
hold_to_confirm: 'hold_to_confirm',
start_reversing: 'start_reversing',
stop_reversing: 'stop_reversing',
toggle_reversing: 'toggle_reversing',
increase_pilot_gain: 'increase_pilot_gain',
reduce_pilot_gain: 'reduce_pilot_gain',
} as const

/**
Expand Down Expand Up @@ -61,6 +66,11 @@ export const predefinedCockpitActions: { [key in CockpitActionsFunction]: Cockpi
[CockpitActionsFunction.toggle_recording_all_streams]: new CockpitAction(CockpitActionsFunction.toggle_recording_all_streams, 'Toggle recording all streams'),
[CockpitActionsFunction.take_snapshot]: new CockpitAction(CockpitActionsFunction.take_snapshot, 'Take snapshot'),
[CockpitActionsFunction.hold_to_confirm]: new CockpitAction(CockpitActionsFunction.hold_to_confirm, 'Hold to confirm'),
[CockpitActionsFunction.start_reversing]: new CockpitAction(CockpitActionsFunction.start_reversing, 'Start Reversing'),
[CockpitActionsFunction.stop_reversing]: new CockpitAction(CockpitActionsFunction.stop_reversing, 'Stop Reversing'),
[CockpitActionsFunction.toggle_reversing]: new CockpitAction(CockpitActionsFunction.toggle_reversing, 'Toggle Reversing'),
[CockpitActionsFunction.increase_pilot_gain]: new CockpitAction(CockpitActionsFunction.increase_pilot_gain, 'Increase Pilot Gain'),
[CockpitActionsFunction.reduce_pilot_gain]: new CockpitAction(CockpitActionsFunction.reduce_pilot_gain, 'Reduce Pilot Gain'),
}

export type CockpitActionCallback = () => void
Expand Down
55 changes: 38 additions & 17 deletions src/libs/joystick/protocols/mavlink-manual-control.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,12 @@
import { capitalize } from 'vue'

import { useInteractionDialog } from '@/composables/interactionDialog'
import { getDataLakeVariableData } from '@/libs/actions/data-lake'
import { sendManualControl } from '@/libs/communication/mavlink'
import { modifierKeyActions, otherAvailableActions } from '@/libs/joystick/protocols/other'
import { round, scale } from '@/libs/utils'
import { round } from '@/libs/utils'
import type { ArduPilot } from '@/libs/vehicle/ardupilot/ardupilot'
import { type JoystickProtocolActionsMapping, type JoystickState, type ProtocolAction, CockpitModifierKeyOption, JoystickAxis, JoystickButton, JoystickProtocol } from '@/types/joystick'
import { type JoystickProtocolActionsMapping, type JoystickState, type ProtocolAction, CockpitModifierKeyOption, JoystickButton, JoystickProtocol } from '@/types/joystick'

/**
* Possible axes in the MAVLink `MANUAL_CONTROL` message protocol
Expand Down Expand Up @@ -500,21 +501,13 @@ export class MavlinkManualControlManager {
}
}

// Calculate axes values
const xCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_x.id)
const yCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_y.id)
const zCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_z.id)
const rCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_r.id)
const sCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_s.id)
const tCorrespondency = Object.entries(this.currentActionsMapping.axesCorrespondencies).find((entry) => entry[1].action.protocol === JoystickProtocol.MAVLinkManualControl && entry[1].action.id === mavlinkManualControlAxes.axis_t.id)

// Populate MAVLink Manual Control state of axes and buttons
this.manualControlState.x = xCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[xCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, xCorrespondency[1].min, xCorrespondency[1].max), 0)
this.manualControlState.y = yCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[yCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, yCorrespondency[1].min, yCorrespondency[1].max), 0)
this.manualControlState.z = zCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[zCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, zCorrespondency[1].min, zCorrespondency[1].max), 0)
this.manualControlState.r = rCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[rCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, rCorrespondency[1].min, rCorrespondency[1].max), 0)
this.manualControlState.s = sCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[sCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, sCorrespondency[1].min, sCorrespondency[1].max), 0)
this.manualControlState.t = tCorrespondency === undefined ? 0 : round(scale(this.joystickState.axes[tCorrespondency[0] as unknown as JoystickAxis] ?? 0, -1, 1, tCorrespondency[1].min, tCorrespondency[1].max), 0)
// Read axis values from data lake output variables (scaling is handled by the data-lake protocol handler)
this.manualControlState.x = round(Number(getDataLakeVariableData('joystick/outputs/axis-x') ?? 0), 0)
this.manualControlState.y = round(Number(getDataLakeVariableData('joystick/outputs/axis-y') ?? 0), 0)
this.manualControlState.z = round(Number(getDataLakeVariableData('joystick/outputs/axis-z') ?? 0), 0)
this.manualControlState.r = round(Number(getDataLakeVariableData('joystick/outputs/axis-r') ?? 0), 0)
this.manualControlState.s = round(Number(getDataLakeVariableData('joystick/outputs/axis-s') ?? 0), 0)
this.manualControlState.t = round(Number(getDataLakeVariableData('joystick/outputs/axis-t') ?? 0), 0)
this.manualControlState.buttons = buttons_int
this.manualControlState.buttons2 = buttons2_int
}
Expand Down Expand Up @@ -703,3 +696,31 @@ const migrateServoSubButtonsToActuators = (mappings: JoystickProtocolActionsMapp
export const migrateMavlinkManualControlButtons = (mappings: JoystickProtocolActionsMapping[]): JoystickProtocolActionsMapping[] => {
return migrateServoSubButtonsToActuators(mappings)
}

const mavlinkAxisToDataLakeMap: Record<string, { id: string; name: string }> = {
[MAVLinkAxisFunction.X]: { id: 'joystick/inputs/axis-x', name: 'Axis X' },
[MAVLinkAxisFunction.Y]: { id: 'joystick/inputs/axis-y', name: 'Axis Y' },
[MAVLinkAxisFunction.Z]: { id: 'joystick/inputs/axis-z', name: 'Axis Z' },
[MAVLinkAxisFunction.R]: { id: 'joystick/inputs/axis-r', name: 'Axis R' },
[MAVLinkAxisFunction.S]: { id: 'joystick/inputs/axis-s', name: 'Axis S' },
[MAVLinkAxisFunction.T]: { id: 'joystick/inputs/axis-t', name: 'Axis T' },
}

export const migrateMavlinkManualControlAxes = (mappings: JoystickProtocolActionsMapping[]): JoystickProtocolActionsMapping[] => {
const migratedMappings: JoystickProtocolActionsMapping[] = JSON.parse(JSON.stringify(mappings))
migratedMappings.forEach((mapping) => {
Object.entries(mapping.axesCorrespondencies).forEach(([axisIndex, axisConfig]) => {
if (axisConfig.action.protocol === JoystickProtocol.MAVLinkManualControl) {
const replacement = mavlinkAxisToDataLakeMap[axisConfig.action.id]
if (replacement) {
mapping.axesCorrespondencies[axisIndex as unknown as number].action = {
protocol: JoystickProtocol.DataLakeVariable,
id: replacement.id,
name: replacement.name,
}
}
}
})
})
return migratedMappings
}
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