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Improve logic of passing channels data in simulated SBUS

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Return the data the same way as on the real drone without touching channels global vairable
This commit is contained in:
Oleg Kalachev 2024-12-23 02:04:22 +03:00
parent 16c9d8fe8a
commit 292b10197f
2 changed files with 5 additions and 7 deletions
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6
gazebo/SBUS.h
View File

@ -14,12 +14,10 @@ public:
SBUS(HardwareSerial& bus, const bool inv = true) {}; SBUS(HardwareSerial& bus, const bool inv = true) {};
SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {}; SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {};
void begin() {}; void begin() {};
bool read() { return joystickGet(); }; bool read() { return true; };
SBUSData data() { SBUSData data() {
SBUSData data; SBUSData data;
for (uint8_t i = 0; i < 16; i++) { joystickGet(data.ch);
data.ch[i] = channels[i];
}
return data; return data;
}; };
}; };

6
gazebo/joystick.h
View File

@ -41,7 +41,7 @@ void joystickInit() {
memcpy(channelMax, channelMaxOverride, sizeof(channelMaxOverride)); memcpy(channelMax, channelMaxOverride, sizeof(channelMaxOverride));
} }
bool joystickGet() { bool joystickGet(int16_t ch[16]) {
if (!joystickInitialized) { if (!joystickInitialized) {
joystickInit(); joystickInit();
return false; return false;
@ -49,8 +49,8 @@ bool joystickGet() {
SDL_JoystickUpdate(); SDL_JoystickUpdate();
for (uint8_t i = 0; i < 8; i++) { for (uint8_t i = 0; i < sizeof(channels) / sizeof(channels[0]); i++) {
channels[i] = SDL_JoystickGetAxis(joystick, i); ch[i] = SDL_JoystickGetAxis(joystick, i);
} }
return true; return true;
} }