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Add yaw dead zone in mavlink control

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This commit is contained in:
Oleg Kalachev 2024-01-31 12:05:49 +03:00
parent 033e74a375
commit 2694f68b87
1 changed files with 3 additions and 0 deletions
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3
flix/mavlink.ino
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@ -11,6 +11,7 @@
#define PERIOD_SLOW 1.0 #define PERIOD_SLOW 1.0
#define PERIOD_FAST 0.1 #define PERIOD_FAST 0.1
#define MAVLINK_CONTROL_SCALE 0.7f #define MAVLINK_CONTROL_SCALE 0.7f
#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
void processMavlink() { void processMavlink() {
sendMavlink(); sendMavlink();
@ -91,6 +92,8 @@ void handleMavlink(const void *_msg) {
controls[RC_CHANNEL_YAW] = manualControl.r / 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_MODE] = 1; // STAB mode
controls[RC_CHANNEL_ARMED] = 1; // armed controls[RC_CHANNEL_ARMED] = 1; // armed
if (abs(controls[RC_CHANNEL_YAW]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[RC_CHANNEL_YAW] = 0;
} }
} }