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Examples/Linux/custom_test/Sources/ardrone_testing_tool.c

@@ -63,7 +63,56 @@ C_RESULT ardrone_tool_init_custom(void)
   return C_OK;
 }
 
+C_RESULT ardrone_tool_update_custom() {
+  static float ag = 0, ab = 0, ad = 0, ah = 0,
+               l1 = 0, r1 = 0, l2 = 0, r2 = 0,
+               select = 0, start = 0, x = 0, y = 0,
+               phi_trim = 0, theta_trim = 0, yaw_trim = 0;
+  int key = kbhit();
+
+  switch(key) {
+  case 'i': ardrone_tool_set_ui_pad_xy(x=  0, y=  1); break; // up
+  case 'j': ardrone_tool_set_ui_pad_xy(x= -1, y=  0); break; // left
+  case 'k': ardrone_tool_set_ui_pad_xy(x=  0, y= -1); break; // down
+  case 'l': ardrone_tool_set_ui_pad_xy(x=  1, y=  0); break; // right
+  case 'm': ardrone_tool_set_ui_pad_xy(x=  0, y=  0); break;
+  }
+
+  #define _TOG(_c, _v) case _c : _v = ! _v ; ardrone_tool_set_ui_pad_##_v ( _v ); break
+  switch(key) {
+  _TOG('q', ag);
+  _TOG('w', ab);
+  _TOG('e', ad);
+  _TOG('r', ah);
+  _TOG('a', l1);
+  _TOG('s', r1);
+  _TOG('d', l2);
+  _TOG('f', r2);
+  _TOG('1', select);
+  _TOG('2', start);
+  _TOG(',', phi_trim);
+  _TOG('.', theta_trim);
+  _TOG('/', yaw_trim);
+  default: key = -1;
+  }
+  #undef _TOG
+
+  if (key != -1) {
+    printf(
+      "--------------------------------------------------------- \n"
+      "--- ag ab ad ah l1 r1 l2 r2  x  y sel sta phi tht yaw --- \n"
+      "---%3d%3d%3d%3d%3d%3d%3d%3d%3d%3d %3d %3d %3d %3d %3d --- \n"
+      "--------------------------------------------------------- \n",
+      ag, ab, ad, ah, l1, r1, l2, r2, x, y,
+      select, start, phi_trim, theta_trim, yaw_trim
+    );
+  }
+
+  return C_OK;
+}
+
 /* The delegate object calls this method every time in the event loop */
+/*
 C_RESULT ardrone_tool_update_custom() {
   static float phi = 0, theta = 0, gaz = 0, yaw = 0, psi = 0, psi_accuracy = 0;
   static int start = 0, emergency = 0, hover = 0, yaw_mode = 0, abs_ctrl_mode = 0;
@@ -125,7 +174,7 @@ C_RESULT ardrone_tool_update_custom() {
   
   return C_OK;
 }
-
+*/
 /* The delegate object calls this method when the event loop exit */
 C_RESULT ardrone_tool_shutdown_custom(void)
 {