Button Inputs in Sub

Unlike other vehicles, Sub has its own specialized button functionality. Other vehicles include hardware buttons as described in the Buttons hardware section.

Instead, Sub uses “joystick” buttons associated with the GCS or GCS attached Joystick. The GCS sends frequent button state updates via the MAVLink Manual Control protocol, which includes both motion-axis commands and button states.

Up to 32 buttons can be configured with a host of functions. In addition, by assigning a “shift” button function, each button can execute a “shifted” function, so up to 63 functions can be implemented.

Note

See Default Sub Hardware Configuration for the default assignments of button functions.

Each button has two parameters:

• BTNx_FUNCTION

• BTNx_SFUNCTION

The possible values for the function or shifted function are:

Value	Meaning	Description
0	Disabled	Do nothing (button unused by the autopilot).
1	shift	Modifier to swap other buttons to the “shifted” functions.
2	arm_toggle	Swap the autopilot’s armed/disarmed state.
3	arm	Arm the autopilot.
4	disarm	Disarm the autopilot.
5	mode_manual	Change to MANUAL flight mode.
6	mode_stabilize	Change to STABILIZE flight mode.
7	mode_depth_hold	Change to ALT_HOLD flight mode.
8	mode_poshold	Change to POSHOLD flight mode.
9	mode_auto	Change to AUTO flight mode.
10	mode_circle	Change to CIRCLE flight mode.
11	mode_guided	Change to GUIDED flight mode.
12	mode_acro	Change to ACRO flight mode.
13	mode_surftrak	Change to SURFTRAK flight mode.
21	mount_center	Move the camera mount to its center orientation.
22	mount_tilt_up	Tilt (pitch) up the camera mount.
23	mount_tilt_down	Tilt (pitch) down the camera mount.
24	camera_trigger	Trigger the camera shutter (NOT IMPLEMENTED).
25	camera_source_toggle	Toggle between available camera sources (with connected video switch).
26	mount_pan_right	Pan (yaw) the camera mount to the right.
27	mount_pan_left	Pan (yaw) the camera mount to the left.
31	lights1_cycle	Step lights1 (once) brighter/dimmer as part of a cycle between the limits.
32	lights1_brighter	Step lights1 brighter by the configured step size, up to the output limit.
33	lights1_dimmer	Step lights1 dimmer by the configured step size, up to the output limit.
34	lights2_cycle	Step lights2 (once) brighter/dimmer as part of a cycle between the limits.
35	lights2_brighter	Step lights2 brighter by the configured step size, up to the output limit.
36	lights2_dimmer	Step lights2 dimmer by the configured step size, up to the output limit.
41	gain_toggle	Toggle pilot gain between 50% and 100%.
42	gain_inc	Increment pilot gain by the configured joystick gain step size.
43	gain_dec	Decrement pilot gain by the configured joystick gain step size.
44	trim_roll_inc	Increase the roll trim level.
45	trim_roll_dec	Decrease the roll trim level.
46	trim_pitch_inc	Increase the pitch trim level.
47	trim_pitch_dec	Decrease the pitch trim level.
48	input_hold_set	Toggle holding current joystick axis inputs (cruise control on/off).
49	roll_pitch_toggle	Toggle between roll/pitch and forward/lateral control on joystick input.
51	relay_1_on	Set the RELAY1_PIN output to ON.
52	relay_1_off	Set the RELAY1_PIN output to OFF.
53	relay_1_toggle	Toggle the RELAY1_PIN output between ON and OFF.
54	relay_2_on	Set the RELAY2_PIN output to ON.
55	relay_2_off	Set the RELAY2_PIN output to OFF.
56	relay_2_toggle	Toggle the RELAY2_PIN output between ON and OFF.
57	relay_3_on	Set the RELAY3_PIN output to ON.
58	relay_3_off	Set the RELAY3_PIN output to OFF.
59	relay_3_toggle	Toggle the RELAY3_PIN output between ON and OFF.
61	actuator_1_inc	Increase actuator 1 (RC9/AUX1 on old firmware).
62	actuator_1_dec	Decrease actuator 1 (RC9/AUX1 on old firmware).
63	actuator_1_min	Set actuator 1 (RC9/AUX1 on old firmware) to its minimum value.
64	actuator_1_max	Set actuator 1 (RC9/AUX1 on old firmware) to its maximum value.
65	actuator_1_center	Set actuator 1 (RC9/AUX1 on old firmware) to its center value.
66	actuator_2_inc	Increase actuator 2 (RC10/AUX2 on old firmware).
67	actuator_2_dec	Decrease actuator 2 (RC10/AUX2 on old firmware).
68	actuator_2_min	Set actuator 2 (RC10/AUX2 on old firmware) to its minimum value.
69	actuator_2_max	Set actuator 2 (RC10/AUX2 on old firmware) to its maximum value.
70	actuator_2_center	Set actuator 2 (RC10/AUX2 on old firmware) to its center value.
71	actuator_3_inc	Increase actuator 3 (RC11/AUX3 on old firmware).
72	actuator_3_dec	Decrease actuator 3 (RC11/AUX3 on old firmware).
73	actuator_3_min	Set actuator 3 (RC11/AUX3 on old firmware) to its minimum value.
74	actuator_3_max	Set actuator 3 (RC11/AUX3on old firmware) to its maximum value.
75	actuator_3_center	Set actuator 3 (RC11/AUX3 on old firmware) to its center value.
76	actuator_1_min_momentary	Set actuator 1 to its minimum value while held, then return to center.
77	actuator_1_max_momentary	Set actuator 1 to its maximum value while held, then return to center.
78	actuator_1_min_toggle	Toggle actuator 1 between its minimum and center values.
79	actuator_1_max_toggle	Toggle actuator 1 between its maximum and center values.
80	actuator_2_min_momentary	Set actuator 2 to its minimum value while held, then return to center.
81	actuator_2_max_momentary	Set actuator 2 to its maximum value while held, then return to center.
82	actuator_2_min_toggle	Toggle actuator 2 between its minimum and center values.
83	actuator_2_max_toggle	Toggle actuator 2 between its maximum and center values.
84	actuator_3_min_momentary	Set actuator 3 to its minimum value while held, then return to center.
85	actuator_3_max_momentary	Set actuator 3 to its maximum value while held, then return to center.
86	actuator_3_min_toggle	Toggle actuator 3 between its minimum and center values.
87	actuator_3_max_toggle	Toggle actuator 3 between its maximum and center values.
91	custom_1	Activate custom functionality 1 (if implemented).
92	custom_2	Activate custom functionality 2 (if implemented).
93	custom_3	Activate custom functionality 3 (if implemented).
94	custom_4	Activate custom functionality 4 (if implemented).
95	custom_5	Activate custom functionality 5 (if implemented).
96	custom_6	Activate custom functionality 6 (if implemented).
101	relay_4_on	Set the RELAY4_PIN output to ON.
102	relay_4_off	Set the RELAY4_PIN output to OFF.
103	relay_4_toggle	Toggle the RELAY4_PIN output between ON and OFF.
104	relay_1_momentary	Set the RELAY1_PIN output to ON, while the button is held.
105	relay_2_momentary	Set the RELAY2_PIN output to ON, while the button is held.
106	relay_3_momentary	Set the RELAY3_PIN output to ON, while the button is held.
107	relay_4_momentary	Set the RELAY4_PIN output to ON, while the button is held.
108	script_1	Register Lua script input 1 as pressed/held.
109	script_2	Register Lua script input 2 as pressed/held.
110	script_3	Register Lua script input 3 as pressed/held.
111	script_4	Register Lua script input 4 as pressed/held.
112	actuator_4_min	Set actuator 4 to its minimum value.
113	actuator_4_max	Set actuator 4 to its maximum value.
114	actuator_4_center	Set actuator 4 to its center value.
115	actuator_4_inc	Increase actuator 4.
116	actuator_4_dec	Decrease actuator 4.
117	actuator_4_min_momentary	Set actuator 4 to its minimum value while held, then return to center.
118	actuator_4_max_momentary	Set actuator 4 to its maximum value while held, then return to center.
119	actuator_4_min_toggle	Toggle actuator 4 between its minimum and center values.
120	actuator_4_max_toggle	Toggle actuator 4 between its maximum and center values.
121	actuator_5_min	Set actuator 5 to its minimum value.
122	actuator_5_max	Set actuator 5 to its maximum value.
123	actuator_5_center	Set actuator 5 to its center value.
124	actuator_5_inc	Increase actuator 5.
125	actuator_5_dec	Decrease actuator 5.
126	actuator_5_min_momentary	Set actuator 5 to its minimum value while held, then return to center.
127	actuator_5_max_momentary	Set actuator 5 to its maximum value while held, then return to center.
128	actuator_5_min_toggle	Toggle actuator 5 between its minimum and center values.
129	actuator_5_max_toggle	Toggle actuator 5 between its maximum and center values.
130	actuator_6_min	Set actuator 6 to its minimum value.
131	actuator_6_max	Set actuator 6 to its maximum value.
132	actuator_6_center	Set actuator 6 to its center value.
133	actuator_6_inc	Increase actuator 6.
134	actuator_6_dec	Decrease actuator 6.
135	actuator_6_min_momentary	Set actuator 6 to its minimum value while held, then return to center.
136	actuator_6_max_momentary	Set actuator 6 to its maximum value while held, then return to center.
137	actuator_6_min_toggle	Toggle actuator 6 between its minimum and center values.
138	actuator_6_max_toggle	Toggle actuator 6 between its maximum and center values.