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# Manual Assist Mode
## About
Manual Assist Mode is a mode where the quad is set to autonomous mode and then a usb controller is used to control a set point that the quad will move to. This is a seperate application that interfaces with a running backend instance.
## Make Process
Plug in the usb controller and then check that the device file is there by using the following command
```bash
ls /dev/input/
```
In the output you should see the a device file that is called **jsX** where X is a number. ( normally **js0** )
**Check the path** at the top of [manual_assist_main.c](./manual_assist_main.c#L13) to **make sure it is mapping to the correct device file** (the jsX file found in the prev step).
Finally run the main [makefile](../../Makefile) for groundstation located in the MicroCART/groundStation/ directory.
## Using
To use the Manual Assist Mode you will have to initially make the groundStation and ManualAssist executable as described above.
Next **start up a backend instance** the standard way as described by [groundStation README](../../README.md)
Next run through the [standard demo initialization](../../../documentation/how_to_demo.md) steps to **get to the autonomous flight** step.
Once you get the quad past the manual flight mode test, set it to autonomous mode by flipping the **FLAP SWITCH** to **0** on the manual mode normal controller **(The NON USB controller)**
Finally run the ManualAssist program by running the following command from the MicroCART/groundStation/ directory by running the following command
```bash
./ManualAssist
```
You can now use the controller to take off by flipping the **channel 7 switch** to the **up** position
Use Joysticks to move your set point within the safety range defined in your [manual_assist_mode.c](manual_assist_main.c)
When finished with your flight flip the **channel 7 switch** to the **down** position to land and flip the switches on the manual mode controller (**NON USB**) to manual and killed
Remember to **end the ManualAssist program** by using the **ctrl** + **c** key combination
## Controller
- **Channel 5 switch**
UP = DEBUG ON
DOWN = DEBUG OFF
- **Channel 7 switch**
UP = TAKEOFF script / controlling flight
DOWN = LAND script / done flying
- **Left Joystick**
UP = QUAD height up
CENTER = QUAD keep height
DOWN = QUAD height down
RIGHT / LEFT = nothing
- **Right Joystick**
UP = QUAD forward
DOWN = QUAD backward
RIGHT = QUAD right
LEFT = QUAD left
CENTER = keep X and Y
**NOTE: When flying keep in mind the directions of the camera system!**