Fixed USB HID channel mapping in Windows.

make/source.mk

@@ -51,6 +51,7 @@ COMMON_SRC = \
             io/serial.c \
             io/statusindicator.c \
             io/transponder_ir.c \
+            io/usb_cdc_hid.c \
             msp/msp_serial.c \
             scheduler/scheduler.c \
             sensors/adcinternal.c \
@@ -297,6 +298,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             io/serial_4way_avrootloader.c \
             io/serial_4way_stk500v2.c \
             io/transponder_ir.c \
+            io/usb_cdc_hid.c \
             msp/msp_serial.c \
             cms/cms.c \
             cms/cms_menu_blackbox.c \

src/main/fc/fc_tasks.c

@@ -69,6 +69,7 @@
 #include "io/transponder_ir.h"
 #include "io/vtx_tramp.h" // Will be gone
 #include "io/rcdevice_cam.h"
+#include "io/usb_cdc_hid.h"
 #include "io/vtx.h"
 
 #include "msp/msp_serial.h"
@@ -91,17 +92,6 @@
 
 #include "telemetry/telemetry.h"
 
-#ifdef USE_USB_CDC_HID
-//TODO: Make it platform independent in the future
-#ifdef STM32F4
-#include "vcpf4/usbd_cdc_vcp.h"
-#include "usbd_hid_core.h"
-#elif defined(STM32F7)
-#include "usbd_cdc_interface.h"
-#include "usbd_hid.h"
-#endif
-#endif
-
 #ifdef USE_BST
 void taskBstMasterProcess(timeUs_t currentTimeUs);
 #endif
@@ -161,16 +151,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
 
 #ifdef USE_USB_CDC_HID
     if (!ARMING_FLAG(ARMED)) {
-        int8_t report[8];
+        sendRcDataToHid();
-        for (int i = 0; i < 8; i++) {
-                report[i] = scaleRange(constrain(rcData[i], 1000, 2000), 1000, 2000, -127, 127);
-        }
-#ifdef STM32F4
-        USBD_HID_SendReport(&USB_OTG_dev, (uint8_t*)report, sizeof(report));
-#elif defined(STM32F7)
-        extern USBD_HandleTypeDef  USBD_Device;
-        USBD_HID_SendReport(&USBD_Device, (uint8_t*)report, sizeof(report));
-#endif
     }
 #endif
 

src/main/io/usb_cdc_hid.c

@@ -0,0 +1,70 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_USB_CDC_HID
+
+#include "common/maths.h"
+
+#include "rx/rx.h"
+
+//TODO: Make it platform independent in the future
+#ifdef STM32F4
+#include "vcpf4/usbd_cdc_vcp.h"
+#include "usbd_hid_core.h"
+#elif defined(STM32F7)
+#include "usbd_cdc_interface.h"
+#include "usbd_hid.h"
+#endif
+
+#define USB_CDC_HID_NUM_AXES 8
+
+// In the windows joystick driver, the axes are defined as shown in the third column.
+
+const uint8_t hidChannelMapping[] = {
+    0, // X,          ROLL
+    1, // Y,          PITCH
+    6, // ,           AUX3
+    3, // Y Rotation, THROTTLE
+    4, // Z Rotation, AUX1
+    2, // X Rotation, YAW
+    7, // ,           AUX4
+    5, // Wheel,      AUX2
+};
+
+void sendRcDataToHid(void)
+{
+    int8_t report[8];
+    for (unsigned i = 0; i < USB_CDC_HID_NUM_AXES; i++) {
+        const uint8_t channel = getMappedChannel(hidChannelMapping[i]);
+            report[i] = scaleRange(constrain(rcData[channel], 1000, 2000), 1000, 2000, -127, 127);
+            if (i == 1 || i == 2) {
+                report[i] = -report[i];
+            }
+    }
+#ifdef STM32F4
+    USBD_HID_SendReport(&USB_OTG_dev, (uint8_t*)report, sizeof(report));
+#elif defined(STM32F7)
+    extern USBD_HandleTypeDef  USBD_Device;
+    USBD_HID_SendReport(&USBD_Device, (uint8_t*)report, sizeof(report));
+#endif
+}
+#endif

src/main/io/usb_cdc_hid.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+void sendRcDataToHid(void);

src/main/rx/rx.c

@@ -466,11 +466,16 @@ STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, const rx
     return sample;
 }
 
+uint8_t getMappedChannel(uint8_t channel)
+{
+    return channel < RX_MAPPABLE_CHANNEL_COUNT ? rxConfig()->rcmap[channel] : channel;
+}
+
 static void readRxChannelsApplyRanges(void)
 {
     for (int channel = 0; channel < rxChannelCount; channel++) {
 
-        const uint8_t rawChannel = channel < RX_MAPPABLE_CHANNEL_COUNT ? rxConfig()->rcmap[channel] : channel;
+        const uint8_t rawChannel = getMappedChannel(channel);
 
         // sample the channel
         uint16_t sample = rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, rawChannel);

src/main/rx/rx.h

@@ -174,3 +174,4 @@ void resumeRxSignal(void);
 
 uint16_t rxGetRefreshRate(void);
 
+uint8_t getMappedChannel(uint8_t channel);