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Move controlsTime variable to rc.ino

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This commit is contained in:
Oleg Kalachev 2025-01-11 00:28:31 +03:00
parent 59a8a80cce
commit 03c6576b72
5 changed files with 5 additions and 2 deletions
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2
flix/failsafe.ino
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@ -6,6 +6,8 @@
#define RC_LOSS_TIMEOUT 0.2 #define RC_LOSS_TIMEOUT 0.2
#define DESCEND_TIME 3.0 // time to descend from full throttle to zero #define DESCEND_TIME 3.0 // time to descend from full throttle to zero
extern float controlsTime;
void failsafe() { void failsafe() {
if (t - controlsTime > RC_LOSS_TIMEOUT) { if (t - controlsTime > RC_LOSS_TIMEOUT) {
descend(); descend();

1
flix/flix.ino
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@ -22,7 +22,6 @@ float t = NAN; // current step time, s
float dt; // time delta from previous step, s float dt; // time delta from previous step, s
int16_t channels[RC_CHANNELS]; // raw rc channels int16_t channels[RC_CHANNELS]; // raw rc channels
float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle) float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
float controlsTime; // time of the last controls update
Vector gyro; // gyroscope data Vector gyro; // gyroscope data
Vector acc; // accelerometer data, m/s/s Vector acc; // accelerometer data, m/s/s
Vector rates; // filtered angular rates, rad/s Vector rates; // filtered angular rates, rad/s

2
flix/mavlink.ino
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@ -13,6 +13,8 @@
#define MAVLINK_CONTROL_SCALE 0.7f #define MAVLINK_CONTROL_SCALE 0.7f
#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
extern float controlsTime;
void processMavlink() { void processMavlink() {
sendMavlink(); sendMavlink();
receiveMavlink(); receiveMavlink();

1
flix/rc.ino
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@ -9,6 +9,7 @@
// NOTE: use 'cr' command to calibrate the RC and put the values here // NOTE: use 'cr' command to calibrate the RC and put the values here
int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float controlsTime; // time of the last controls update
SBUS RC(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins SBUS RC(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins

1
gazebo/flix.h
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@ -18,7 +18,6 @@ float dt;
float motors[4]; float motors[4];
int16_t channels[16]; // raw rc channels int16_t channels[16]; // raw rc channels
float controls[RC_CHANNELS]; float controls[RC_CHANNELS];
float controlsTime;
Vector acc; Vector acc;
Vector gyro; Vector gyro;
Vector rates; Vector rates;