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MAVLink input support (control using mobile phone)

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This commit is contained in:
Oleg Kalachev
2024-01-17 15:39:40 +03:00
parent 8e629e3eea
commit 172f6b173a
6 changed files with 47 additions and 2 deletions
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2
flix/flix.ino
View File

@@ -60,7 +60,7 @@ void loop() {
sendMotors();
parseInput();
#if WIFI_ENABLED == 1
sendMavlink();
processMavlink();
#endif
logData();
}

34
flix/mavlink.ino
View File

@@ -10,6 +10,12 @@
#define SYSTEM_ID 1
#define PERIOD_SLOW 1.0
#define PERIOD_FAST 0.1
#define MAVLINK_CONTROL_SCALE 0.7f
void processMavlink() {
sendMavlink();
receiveMavlink();
}
void sendMavlink() {
static float lastSlow = 0;
@@ -60,4 +66,32 @@ void sendMessage(const void *msg) {
sendWiFi(buf, len);
}
void receiveMavlink() {
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
int len = receiveWiFi(buf, MAVLINK_MAX_PACKET_LEN);
// New packet, parse it
mavlink_message_t msg;
mavlink_status_t status;
for (int i = 0; i < len; i++) {
if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) {
handleMavlink(&msg);
}
}
}
void handleMavlink(const void *_msg) {
mavlink_message_t *msg = (mavlink_message_t *)_msg;
if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
mavlink_manual_control_t manualControl;
mavlink_msg_manual_control_decode(msg, &manualControl);
controls[RC_CHANNEL_THROTTLE] = manualControl.z / 1000.0f;
controls[RC_CHANNEL_PITCH] = manualControl.x / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_ROLL] = manualControl.y / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_YAW] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_MODE] = 1; // STAB mode
controls[RC_CHANNEL_AUX] = 1; // armed
}
}
#endif

6
flix/wifi.ino
View File

@@ -20,6 +20,7 @@ void setupWiFi() {
Serial.println("Setup Wi-Fi");
WiFi.softAP(WIFI_SSID, WIFI_PASSWORD);
IPAddress myIP = WiFi.softAPIP();
udp.begin(WIFI_UDP_PORT);
}
void sendWiFi(const uint8_t *buf, int len) {
@@ -29,4 +30,9 @@ void sendWiFi(const uint8_t *buf, int len) {
udp.endPacket();
}
int receiveWiFi(uint8_t *buf, int len) {
udp.parsePacket();
return udp.read(buf, len);
}
#endif