Sub: JS_LIGHTS_STEP -> JS_LIGHTS_STEPS

ArduSub/Parameters.cpp

@@ -302,13 +302,13 @@ const AP_Param::Info Sub::var_info[] = {
     // @Range: 1 10
     GSCALAR(numGainSettings, "JS_GAIN_STEPS", 4),
 
-    // @Param: JS_LIGHTS_STEP
-    // @DisplayName: Lights step size
-    // @Description: Size of PWM increment in microseconds on lights servo
+    // @Param: JS_LIGHTS_STEPS
+    // @DisplayName: Lights brightness steps
+    // @Description: Number of steps in brightness between minimum and maximum brightness
     // @User: Standard
-    // @Range: 30 400
+    // @Range: 1 10
     // @Units: PWM
-    GSCALAR(lights_step, "JS_LIGHTS_STEP", 100),
+    GSCALAR(lights_steps, "JS_LIGHTS_STEPS", 8),
 
     // @Param: JS_THR_GAIN
     // @DisplayName: Throttle gain scalar

ArduSub/Parameters.h

@@ -126,8 +126,8 @@ public:
         k_param_maxGain,
         k_param_minGain,
         k_param_numGainSettings,
-        k_param_cam_tilt_step,
-        k_param_lights_step,
+        k_param_cam_tilt_step, // deprecated
+        k_param_lights_step, // deprecated
 
         // Joystick button mapping parameters
         k_param_jbtn_0 = 95,
@@ -191,7 +191,7 @@ public:
         k_param_terrain_follow = 182,
         k_param_rc_feel_rp,
         k_param_throttle_gain,
-        k_param_cam_tilt_center,
+        k_param_cam_tilt_center, // deprecated
         k_param_frame_configuration,
 
         // Acro Mode parameters
@@ -208,7 +208,8 @@ public:
         // RC_Mapper Library
         k_param_rcmap, // Disabled
 
-        k_param_cam_slew_limit = 237,
+        k_param_cam_slew_limit = 237, // deprecated
+        k_param_lights_steps,
 
     };
 
@@ -273,7 +274,7 @@ public:
     AP_Int8         numGainSettings;
     AP_Float        throttle_gain;
 
-    AP_Int16        lights_step;
+    AP_Int16        lights_steps;
 
     // Joystick button parameters
     JSButton        jbtn_0;

ArduSub/joystick.cpp

@@ -201,10 +201,11 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
             RC_Channel* chan = RC_Channels::rc_channel(8);
             uint16_t min = chan->get_radio_min();
             uint16_t max = chan->get_radio_max();
+            uint16_t step = (max - min) / g.lights_steps;
             if (increasing) {
-                lights1 = constrain_float(lights1+g.lights_step, min, max);
+                lights1 = constrain_float(lights1 + step, min, max);
             } else {
-                lights1 = constrain_float(lights1-g.lights_step, min, max);
+                lights1 = constrain_float(lights1 - step, min, max);
             }
             if (lights1 >= max || lights1 <= min) {
                 increasing = !increasing;
@@ -216,7 +217,8 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
             RC_Channel* chan = RC_Channels::rc_channel(8);
             uint16_t min = chan->get_radio_min();
             uint16_t max = chan->get_radio_max();
-            lights1 = constrain_float(lights1+g.lights_step, min, max);
+            uint16_t step = (max - min) / g.lights_steps;
+            lights1 = constrain_float(lights1 + step, min, max);
         }
         break;
     case JSButton::button_function_t::k_lights1_dimmer:
@@ -224,7 +226,8 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
             RC_Channel* chan = RC_Channels::rc_channel(8);
             uint16_t min = chan->get_radio_min();
             uint16_t max = chan->get_radio_max();
-            lights1 = constrain_float(lights1-g.lights_step, min, max);
+            uint16_t step = (max - min) / g.lights_steps;
+            lights1 = constrain_float(lights1 - step, min, max);
         }
         break;
     case JSButton::button_function_t::k_lights2_cycle:
@@ -233,10 +236,11 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
             RC_Channel* chan = RC_Channels::rc_channel(9);
             uint16_t min = chan->get_radio_min();
             uint16_t max = chan->get_radio_max();
+            uint16_t step = (max - min) / g.lights_steps;
             if (increasing) {
-                lights2 = constrain_float(lights2+g.lights_step, min, max);
+                lights2 = constrain_float(lights2 + step, min, max);
             } else {
-                lights2 = constrain_float(lights2-g.lights_step, min, max);
+                lights2 = constrain_float(lights2 - step, min, max);
             }
             if (lights2 >= max || lights2 <= min) {
                 increasing = !increasing;
@@ -248,7 +252,8 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
             RC_Channel* chan = RC_Channels::rc_channel(9);
             uint16_t min = chan->get_radio_min();
             uint16_t max = chan->get_radio_max();
-            lights2 = constrain_float(lights2+g.lights_step, min, max);
+            uint16_t step = (max - min) / g.lights_steps;
+            lights2 = constrain_float(lights2 + step, min, max);
         }
         break;
     case JSButton::button_function_t::k_lights2_dimmer:
@@ -256,7 +261,8 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
             RC_Channel* chan = RC_Channels::rc_channel(9);
             uint16_t min = chan->get_radio_min();
             uint16_t max = chan->get_radio_max();
-            lights2 = constrain_float(lights2-g.lights_step, min, max);
+            uint16_t step = (max - min) / g.lights_steps;
+            lights2 = constrain_float(lights2 - step, min, max);
         }
         break;
     case JSButton::button_function_t::k_gain_toggle: