<!-- Generic X-Box gamepad
  e.g. Logitech wireless gamepad F710

This xbox controller is setup for an easier control experience
The triggers control the yaw and the left stick only controls the throttle


This config is for Xinput mode. Make sure slider switch on back of controller is on X (not D)
Also make sure controller not in sports mode (mode light should be off)

  Has six axes:
  axis 0: LTS_H (left thumb stick horizontal) (or DPad horizontal in sports mode)
  axis 1: LTS_V (left thumb stick vertical) (or DPad vertical in sports mode)
  axis 2: LT (left trigger)
  axis 3: RTS_H (right thumb stick horizontal)
  axis 4: RTS_V (right thumb stick vertical)
  axis 5: RT (right trigger)

It has 11 buttons.
 b0  - A (green)
 b1  - B (red)
 b2  - X (blue)
 b3  - Y (yellow)
 b4  - LB (left shoulder button)
 b5  - RB (right shoulder button)
 b6  - back
 b7  - start
 b8  - ?
 b9  - LSB (left stick button)
 b10 - RSB (right stick button)

and the DPad as a hat (in normal mode)
You can use the Hat<Position>(<hat_name>) function to trigger events,
where <Position> is one of
Centered/Up/Right/Down/Left/RightUp/RightDown/LeftUp/LeftDown
so e.g. HatDown(dpad)

-->

<joystick>
  <input>
    <axis index="0" name="yaw" limit="1.00" exponent="0.7" trim="0"/>
    <axis index="1" name="throttle"/>
    <axis index="2" name="LT" limit="1.00" trim="127"/>
    <axis index="3" name="roll" limit="1.00" exponent="0.7" trim="0"/>
    <axis index="4" name="pitch" limit="1.00" exponent="0.7" trim="0"/>
    <axis index="5" name="RT" limit="1.00" trim="127"/>
    <button index="0" name="A"/>
    <button index="1" name="B"/>
    <button index="2" name="X"/>
    <button index="3" name="Y"/>
    <button index="4" name="LB"/>
    <button index="5" name="RB"/>
    <button index="6" name="back"/>
    <button index="7" name="start"/>
    <button index="9" name="LSB"/>
    <button index="10" name="RSB"/>
    <hat index="0" name="dpad"/>
  </input>

  <variables>
    <!-- manual by default and when pressing A, AUTO1 on B, AUTO2 on Y -->
    <var name="mode" default="0"/>
    <set var="mode" value="0" on_event="A"/>
    <set var="mode" value="1" on_event="B"/>
    <set var="mode" value="2" on_event="Y"/>
  </variables>

  <messages period="0.05">

    <message class="datalink" name="RC_4CH" send_always="true">
      <field name="mode" value="mode"/>
      <field name="throttle" value="Fit(-throttle,-127,127,0,127)"/> <!--To trimm for Parot Bebop set 0 to 47-->
      <field name="roll" value="roll"/>
      <field name="pitch" value="pitch"/>
      <field name="yaw" value="Fit(RT-LT,-127,127,-127,127)"/>
    </message>

    <!-- go to "Start Engine" block if in AUTO2 and pressing start button -->
    <message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && start">
      <field name="block_id" value="IndexOfBlock('Start Engine')"/>
    </message>

    <!-- go to "Takeoff" block if in AUTO2 and pressing up on dpad -->
    <message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && HatUp(dpad)">
      <field name="block_id" value="IndexOfBlock('Takeoff')"/>
    </message>

    <!-- go to "land here" block if in AUTO2 and pressing down on dpad -->
    <message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && HatDown(dpad)">
      <field name="block_id" value="IndexOfBlock('land here')"/>
    </message>
 
    <!-- go to "Standby" block if in AUTO2 and pressing down on dpad -->
    <message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && Y">
      <field name="block_id" value="IndexOfBlock('Standby')"/>
    </message>

  </messages>
</joystick>