Fix pedal gauges frozen under ZR mix: feed L/R from pre-mix pedal readouts

The editor's L/R gauges read Rx/Ry, but EnableZR (on in real profiles)
folds the pedals into Rz and pins Rx/Ry to center, so the bars never
moved with the physical pedals. AxisCalibrator now exposes
LeftPedalOutput/RightPedalOutput (the calibrated pre-mix positions) and
RioRuntime.AxesUpdated carries an AxisReadout (the six virtual axes +
both pedals); the strip draws L/R from the pedal readouts, Z/Rz/X/Y
from the axes. With ZR off the readouts equal Rx/Ry, so nothing
changes there. Verified by screenshot: Rx/Ry centered while L=75% and
R=25% render correctly.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

docs/PLAN.md

@@ -281,11 +281,12 @@ Replaces the legacy Google-Sheet → `.data` → GIMP → Script-Fu pipeline
   context-sensitive picker (keyboard key by name via `KeyCatalog`, joystick Button N,
   hat direction, mouse/RIO-command enum); modifiers enable only for keyboard.
   Opened from the tray ("Edit profile…"); Save persists the profile. The encoder
-  gauges are **live**: `RioRuntime.AxesUpdated` streams the calibrated axis values
-  (post invert/deadzone/mix — exactly what the virtual joystick receives) into the
+  gauges are **live**: `RioRuntime.AxesUpdated` streams an `AxisReadout` (the six
+  virtual-joystick outputs plus the calibrated pre-mix pedal positions) into the
   strip at the analog poll rate — Z and the L/R pedals fill bottom-up, Rz deflects
   from its center tick, and the X/Y box tracks the stick as a dot (pure fraction
-  math in `RioJoy.Core.Editing.AxisGauges`, unit-tested).
+  math in `RioJoy.Core.Editing.AxisGauges`, unit-tested). L/R read the pedals
+  from before the ZR mix, since the mix pins Rx/Ry to center.
   ⏳ Still to refine: showing each button's assigned key as a
   caption, grouping a button's two bank addresses, and clone-from-existing.
 - The unified profile JSON supersedes both `RIO.ini` and the Google Sheet, with

src/RioJoy.Core/Calibration/AxisCalibrator.cs

@@ -70,6 +70,16 @@ public sealed class AxisCalibrator
 
     private static int Clamp(int v) => RioJoy.Core.Compat.Net48Math.Clamp(v, 0, AxisOutputs.Max);
 
+    /// <summary>
+    /// The calibrated left-pedal position from the last <see cref="Update"/>
+    /// (<c>0..32766</c>) — always tracks the pedal, even when
+    /// <see cref="AxisCalibrationConfig.EnableZR"/> centers <see cref="AxisOutputs.Rx"/>.
+    /// </summary>
+    public int LeftPedalOutput => Clamp(_leftPedalLast);
+
+    /// <summary>Right-pedal counterpart of <see cref="LeftPedalOutput"/>.</summary>
+    public int RightPedalOutput => Clamp(_rightPedalLast);
+
     private int Throttle(int throttle)
     {
         if (throttle < -RangeThrottle || throttle > RangeThrottle)

src/RioJoy.Core/Calibration/AxisReadout.cs

@@ -0,0 +1,27 @@
+namespace RioJoy.Core.Calibration;
+
+/// <summary>
+/// One live calibration sample for gauge displays: the six virtual-joystick axis
+/// outputs plus the calibrated pedal positions. The pedals are surfaced
+/// separately because the ZR mix (<see cref="AxisCalibrationConfig.EnableZR"/>)
+/// folds them into Rz and pins Rx/Ry to center — a pedal gauge fed from the axes
+/// alone would freeze while the physical pedals move.
+/// </summary>
+public readonly struct AxisReadout
+{
+    /// <summary>The six virtual-joystick outputs (what the HID device receives).</summary>
+    public AxisOutputs Axes { get; }
+
+    /// <summary>Calibrated left-pedal position (<c>0..32766</c>), before the ZR mix.</summary>
+    public int LeftPedal { get; }
+
+    /// <summary>Calibrated right-pedal position (<c>0..32766</c>), before the ZR mix.</summary>
+    public int RightPedal { get; }
+
+    public AxisReadout(AxisOutputs axes, int leftPedal, int rightPedal)
+    {
+        Axes = axes;
+        LeftPedal = leftPedal;
+        RightPedal = rightPedal;
+    }
+}

src/RioJoy.Core/RioRuntime.cs

@@ -57,11 +57,11 @@ public sealed class RioRuntime : IRioCommandSink, IDisposable
     public event Action<int, bool>? ButtonActivity;
 
     /// <summary>
-    /// Raised with the six calibrated axis values after every analog reply —
-    /// independent of the joystick sink, so the editor can show live gauges even
-    /// while input routing is suppressed.
+    /// Raised with the calibrated readout (virtual axes + pre-mix pedal positions)
+    /// after every analog reply — independent of the joystick sink, so the editor
+    /// can show live gauges even while input routing is suppressed.
     /// </summary>
-    public event Action<AxisOutputs>? AxesUpdated;
+    public event Action<AxisReadout>? AxesUpdated;
 
     /// <summary>Raised with the firmware version when a <see cref="RioCommand.VersionReply"/> arrives.</summary>
     public event Action<VersionInfo>? VersionReceived;
@@ -137,7 +137,8 @@ public sealed class RioRuntime : IRioCommandSink, IDisposable
             // Output is best-effort: a faulty joystick sink must not kill the link.
         }
 
-        AxesUpdated?.Invoke(axes);
+        AxesUpdated?.Invoke(new AxisReadout(
+            axes, _calibrator.LeftPedalOutput, _calibrator.RightPedalOutput));
     }
 
     private void OnPacket(RioPacket packet)

src/RioJoy.Tray/Editor/PanelCanvas.cs

@@ -32,7 +32,7 @@ internal sealed class PanelCanvas : Control
     public Func<JoyStickSetting, bool>? CalibrationProvider { get; set; }
 
     private readonly HashSet<int> _livePressed = new();
-    private AxisOutputs? _axes;
+    private AxisReadout? _axes;
 
     public int? SelectedAddress { get; private set; }
 
@@ -46,14 +46,16 @@ internal sealed class PanelCanvas : Control
     }
 
     /// <summary>
-    /// Show the latest calibrated axis values on the encoder-gauge strip. Arrives at
+    /// Show the latest calibrated readout on the encoder-gauge strip. Arrives at
     /// the analog poll rate (~18 Hz), so only the strip is repainted, and only when a
     /// value actually changed.
     /// </summary>
-    public void SetAxes(AxisOutputs axes)
+    public void SetAxes(AxisReadout axes)
     {
-        if (_axes is { } p && p.X == axes.X && p.Y == axes.Y && p.Z == axes.Z &&
-            p.Rx == axes.Rx && p.Ry == axes.Ry && p.Rz == axes.Rz)
+        if (_axes is { } p &&
+            p.Axes.X == axes.Axes.X && p.Axes.Y == axes.Axes.Y && p.Axes.Z == axes.Axes.Z &&
+            p.Axes.Rx == axes.Axes.Rx && p.Axes.Ry == axes.Axes.Ry && p.Axes.Rz == axes.Axes.Rz &&
+            p.LeftPedal == axes.LeftPedal && p.RightPedal == axes.RightPedal)
             return;
         _axes = axes;
         Invalidate(new Rectangle(0, 0, Width, PanelView.TopStrip));

src/RioJoy.Tray/Editor/PanelView.cs

@@ -75,7 +75,7 @@ public static class PanelView
         Func<int, string?> function,
         Func<int, bool> lit,
         Func<int, bool> live,
-        AxisOutputs? axes,
+        AxisReadout? axes,
         int? selected)
     {
         g.Clear(Color.FromArgb(28, 28, 28));
@@ -152,7 +152,7 @@ public static class PanelView
         }
     }
 
-    private static void DrawEncoderStrip(Graphics g, Font font, AxisOutputs? axes)
+    private static void DrawEncoderStrip(Graphics g, Font font, AxisReadout? axes)
     {
         using var pen = new Pen(Color.FromArgb(120, 160, 120));
         using var gauge = new SolidBrush(Color.FromArgb(20, 40, 20));
@@ -181,12 +181,13 @@ public static class PanelView
             g.FillRectangle(gauge, box);
 
         // Live values from the RIO's analog stream (null when the link is down).
-        // The gauges show the calibrated outputs — post invert/deadzone/mix — i.e.
-        // exactly what the virtual joystick receives.
+        // Z/Rz/X/Y show the virtual-joystick outputs; L and R show the calibrated
+        // pedal positions from before the ZR mix, which pins Rx/Ry to center — the
+        // pedal gauges must track the physical pedals either way.
         if (axes is { } a)
         {
-            // Z (throttle) and the L/R pedals (Rx/Ry) fill bottom-up.
-            foreach (var (box, value) in new[] { (zBox, a.Z), (lBox, a.Rx), (rBox, a.Ry) })
+            // Z (throttle) and the L/R pedals fill bottom-up.
+            foreach (var (box, value) in new[] { (zBox, a.Axes.Z), (lBox, a.LeftPedal), (rBox, a.RightPedal) })
             {
                 int h = (int)Math.Round(box.Height * AxisGauges.Fraction(value));
                 if (h > 0)
@@ -194,7 +195,7 @@ public static class PanelView
             }
 
             // Rz (mixed rudder) deflects left/right from the bar's center.
-            double d = AxisGauges.Deflection(a.Rz);
+            double d = AxisGauges.Deflection(a.Axes.Rz);
             int cx = rzBox.X + rzBox.Width / 2;
             int w = (int)Math.Round(rzBox.Width / 2.0 * Math.Abs(d));
             if (w > 0)
@@ -217,8 +218,8 @@ public static class PanelView
         // (0 = left/top, matching the HID axis convention).
         if (axes is { } live)
         {
-            int px = xyBox.X + (int)Math.Round(AxisGauges.Fraction(live.X) * (xyBox.Width - 1));
-            int py = xyBox.Y + (int)Math.Round(AxisGauges.Fraction(live.Y) * (xyBox.Height - 1));
+            int px = xyBox.X + (int)Math.Round(AxisGauges.Fraction(live.Axes.X) * (xyBox.Width - 1));
+            int py = xyBox.Y + (int)Math.Round(AxisGauges.Fraction(live.Axes.Y) * (xyBox.Height - 1));
             using var dot = new SolidBrush(Color.FromArgb(150, 230, 150));
             g.FillEllipse(dot, px - 3, py - 3, 7, 7);
         }

src/RioJoy.Tray/Editor/ProfileEditorForm.cs

@@ -466,8 +466,8 @@ public sealed class ProfileEditorForm : Form
     public void ShowLiveActivity(int address, bool pressed) =>
         RunOnUi(() => _canvas.SetLivePressed(address, pressed));
 
-    /// <summary>Show the live calibrated axis values on the encoder gauges (serial thread).</summary>
-    public void ShowAxes(AxisOutputs axes) =>
+    /// <summary>Show the live calibrated readout on the encoder gauges (serial thread).</summary>
+    public void ShowAxes(AxisReadout axes) =>
         RunOnUi(() => _canvas.SetAxes(axes));
 
     /// <summary>Show the firmware version from a RIO version reply (serial thread).</summary>

tests/RioJoy.Core.Tests/Calibration/AxisCalibratorTests.cs

@@ -69,6 +69,26 @@ public class AxisCalibratorTests
         // lP = (-100) - 0 = -100 → ×1000/500 = -200 → |·|×32 = 6400.
         Assert.Equal(6400, o.Rx);
         Assert.Equal(AxisOutputs.Center, o.Rz); // Rz centered when ZR disabled
+
+        // The pedal readouts mirror Rx/Ry when there is no mix.
+        Assert.Equal(o.Rx, cal.LeftPedalOutput);
+        Assert.Equal(o.Ry, cal.RightPedalOutput);
+    }
+
+    [Fact]
+    public void PedalOutputs_TrackPedals_EvenWithZrMix()
+    {
+        var cal = new AxisCalibrator(); // EnableZR default true
+
+        cal.Update(Report(left: -100, right: -100));
+        AxisOutputs o = cal.Update(Report(left: 0, right: 0));
+
+        // The mix centers Rx/Ry, but the pedal readouts still track the pedals
+        // (same math as the ZR-off Rx/Ry: 6400 for this deflection).
+        Assert.Equal(AxisOutputs.Center, o.Rx);
+        Assert.Equal(AxisOutputs.Center, o.Ry);
+        Assert.Equal(6400, cal.LeftPedalOutput);
+        Assert.Equal(6400, cal.RightPedalOutput);
     }
 
     // --- Joystick (X / Y) ----------------------------------------------------

tests/RioJoy.Core.Tests/RioRuntimeTests.cs

@@ -1,5 +1,6 @@
 using System.Diagnostics;
 using AxisOutputs = RioJoy.Core.Calibration.AxisOutputs;
+using AxisReadout = RioJoy.Core.Calibration.AxisReadout;
 using RioJoy.Core;
 using RioJoy.Core.Mapping;
 using RioJoy.Core.Protocol;
@@ -81,19 +82,22 @@ public class RioRuntimeTests
         var recorder = new RecordingSink();
 
         using var runtime = new RioRuntime(link, new RioInputMap(), recorder, recorder);
-        AxisOutputs? seen = null;
+        AxisReadout? seen = null;
         runtime.AxesUpdated += axes => seen = axes;
         runtime.Start();
 
         using var cts = new CancellationTokenSource();
         Task run = link.RunAsync(cts.Token);
 
-        // All raw axes at zero → joystick X/Y centered, same values the sink receives.
+        // All raw axes at zero → joystick X/Y centered, same values the sink receives;
+        // both pedals at rest → pedal readouts empty.
         fake.Enqueue(PacketBuilder.Build(RioCommand.AnalogReply, new byte[10]));
 
         await WaitUntilAsync(() => seen is not null);
-        Assert.Equal(AxisOutputs.Center, seen!.Value.X);
-        Assert.Equal(AxisOutputs.Center, seen.Value.Y);
+        Assert.Equal(AxisOutputs.Center, seen!.Value.Axes.X);
+        Assert.Equal(AxisOutputs.Center, seen.Value.Axes.Y);
+        Assert.Equal(0, seen.Value.LeftPedal);
+        Assert.Equal(0, seen.Value.RightPedal);
 
         cts.Cancel();
         await run;