Port changes from commit 52819e4

gazebo/SBUS.h

@@ -18,6 +18,9 @@ public:
 	SBUSData data() {
 		SBUSData data;
 		joystickGet(data.ch);
+		for (int i = 0; i < 16; i++) {
+			data.ch[i] = map(data.ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
+		}
 		return data;
 	};
 };

gazebo/flix.h

@@ -15,8 +15,7 @@
 float t = NAN;
 float dt;
 float motors[4];
-int16_t channels[16]; // raw rc channels
-float controls[16];
+float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode;
 Vector acc;
 Vector gyro;
 Vector rates;
@@ -36,7 +35,7 @@ void sendMotors();
 bool motorsActive();
 void doCommand(const String& command);
 void normalizeRC();
-void printRCCal();
+void printRCCalibration();
 void processMavlink();
 void sendMavlink();
 void sendMessage(const void *msg);

gazebo/joystick.h

@@ -8,15 +8,16 @@
 #include <iostream>
 
 // simulation calibration overrides, NOTE: use `cr` command and replace with the actual values
-const int channelNeutralOverride[] = {-258, -258, -27349, 0, -27349, 0};
-const int channelMaxOverride[] = {27090, 27090, 27090, 27090, -5676, 1};
+const int channelZeroOverride[] = {1500, 0, 1000, 1500, 1500, 1000};
+const int channelMaxOverride[] = {2000, 2000, 2000, 2000, 2000, 2000};
 
-#define RC_CHANNEL_ROLL 0
-#define RC_CHANNEL_PITCH 1
-#define RC_CHANNEL_THROTTLE 2
-#define RC_CHANNEL_YAW 3
-#define RC_CHANNEL_ARMED 5
-#define RC_CHANNEL_MODE 4
+// channels mapping overrides
+const int rollChannelOverride = 3;
+const int pitchChannelOverride = 4;
+const int throttleChannelOverride = 5;
+const int yawChannelOverride = 0;
+const int armedChannelOverride = 2;
+const int modeChannelOverride = 1;
 
 SDL_Joystick *joystick;
 
@@ -37,12 +38,20 @@ bool joystickInit() {
 		warnShown = true;
 	}
 
-	// apply calibration overrides
-	extern int channelNeutral[16];
+	// apply overrides
+	extern int channelZero[16];
 	extern int channelMax[16];
-	memcpy(channelNeutral, channelNeutralOverride, sizeof(channelNeutralOverride));
+	memcpy(channelZero, channelZeroOverride, sizeof(channelZeroOverride));
 	memcpy(channelMax, channelMaxOverride, sizeof(channelMaxOverride));
 
+	extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+	rollChannel = rollChannelOverride;
+	pitchChannel = pitchChannelOverride;
+	throttleChannel = throttleChannelOverride;
+	yawChannel = yawChannelOverride;
+	armedChannel = armedChannelOverride;
+	modeChannel = modeChannelOverride;
+
 	return joystickInitialized;
 }
 

gazebo/simulator.cpp

@@ -70,8 +70,8 @@ public:
 
 		// read rc
 		readRC();
-		controls[RC_CHANNEL_MODE] = 1; // 0 acro, 1 stab
-		controls[RC_CHANNEL_ARMED] = 1; // armed
+		controlMode = 1; // 0 acro, 1 stab
+		controlArmed = 1; // armed
 
 		estimate();