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def _assist_mode_changed(self, item):
mode = None
if (item == 0): # Altitude hold
mode = JoystickReader.ASSISTED_CONTROL_ALTHOLD
if (item == 1): # Position hold
mode = JoystickReader.ASSISTED_CONTROL_POSHOLD
if (item == 2): # Position hold
mode = JoystickReader.ASSISTED_CONTROL_HEIGHTHOLD
if (item == 3): # Position hold
mode = JoystickReader.ASSISTED_CONTROL_HOVER
self.helper.inputDeviceReader.set_assisted_control(mode)
Config().set("assistedControl", mode)
def _assisted_control_updated(self, enabled):
if self.helper.inputDeviceReader.get_assisted_control() == \
JoystickReader.ASSISTED_CONTROL_POSHOLD:
self.targetThrust.setEnabled(not enabled)
self.targetRoll.setEnabled(not enabled)
self.targetPitch.setEnabled(not enabled)
elif ((self.helper.inputDeviceReader.get_assisted_control() ==
JoystickReader.ASSISTED_CONTROL_HEIGHTHOLD) or
(self.helper.inputDeviceReader.get_assisted_control() ==
JoystickReader.ASSISTED_CONTROL_HOVER)):
self.targetThrust.setEnabled(not enabled)
self.targetHeight.setEnabled(enabled)
else:
self.helper.cf.param.set_value("flightmode.althold", str(enabled))
def _assisted_control_updated(self, enabled):
if self.helper.inputDeviceReader.get_assisted_control() == \
JoystickReader.ASSISTED_CONTROL_POSHOLD:
self.targetThrust.setEnabled(not enabled)
self.targetRoll.setEnabled(not enabled)
self.targetPitch.setEnabled(not enabled)
elif ((self.helper.inputDeviceReader.get_assisted_control() ==
JoystickReader.ASSISTED_CONTROL_HEIGHTHOLD) or
(self.helper.inputDeviceReader.get_assisted_control() ==
JoystickReader.ASSISTED_CONTROL_HOVER)):
self.targetThrust.setEnabled(not enabled)
self.targetHeight.setEnabled(enabled)
else:
self.helper.cf.param.set_value("flightmode.althold", str(enabled))
def _assist_mode_changed(self, item):
mode = None
if (item == 0): # Altitude hold
mode = JoystickReader.ASSISTED_CONTROL_ALTHOLD
if (item == 1): # Position hold
mode = JoystickReader.ASSISTED_CONTROL_POSHOLD
if (item == 2): # Position hold
mode = JoystickReader.ASSISTED_CONTROL_HEIGHTHOLD
if (item == 3): # Position hold
mode = JoystickReader.ASSISTED_CONTROL_HOVER
self.helper.inputDeviceReader.set_assisted_control(mode)
Config().set("assistedControl", mode)