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Add parameters for list of modes bound to rc switch

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Parameters: CTL_FLT_MODE_0, CTL_FLT_MODE_1, CTL_FLT_MODE_2.
Also fix a bug with incorrect choosing the mode from controlMode.
This commit is contained in:
Oleg Kalachev
2026-01-27 16:38:20 +03:00
parent 377b21429b
commit 3dde380bb7
2 changed files with 7 additions and 3 deletions
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7
flix/control.ino
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@@ -52,6 +52,7 @@ PID pitchPID(PITCH_P, PITCH_I, PITCH_D);
PID yawPID(YAW_P, 0, 0); PID yawPID(YAW_P, 0, 0);
Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX); Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX);
float tiltMax = TILT_MAX; float tiltMax = TILT_MAX;
int flightModes[] = {STAB, STAB, STAB}; // map for rc mode switch
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode; extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
@@ -65,9 +66,9 @@ void control() {
} }
void interpretControls() { void interpretControls() {
if (controlMode < 0.25) mode = STAB; if (controlMode < 0.25) mode = flightModes[0];
if (controlMode < 0.75) mode = STAB; else if (controlMode < 0.75) mode = flightModes[1];
if (controlMode > 0.75) mode = STAB; else if (controlMode > 0.75) mode = flightModes[2];
if (mode == AUTO) return; // pilot is not effective in AUTO mode if (mode == AUTO) return; // pilot is not effective in AUTO mode

3
flix/parameters.ino
View File

@@ -49,6 +49,9 @@ Parameter parameters[] = {
{"CTL_R_RATE_MAX", &maxRate.x}, {"CTL_R_RATE_MAX", &maxRate.x},
{"CTL_Y_RATE_MAX", &maxRate.z}, {"CTL_Y_RATE_MAX", &maxRate.z},
{"CTL_TILT_MAX", &tiltMax}, {"CTL_TILT_MAX", &tiltMax},
{"CTL_FLT_MODE_0", &flightModes[0]},
{"CTL_FLT_MODE_1", &flightModes[1]},
{"CTL_FLT_MODE_2", &flightModes[2]},
// imu // imu
{"IMU_ROT_ROLL", &imuRotation.x}, {"IMU_ROT_ROLL", &imuRotation.x},
{"IMU_ROT_PITCH", &imuRotation.y}, {"IMU_ROT_PITCH", &imuRotation.y},