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Make rc channel numbers and calibration params use int instead of float

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As parameter subsystems supports int now, and int is much more natural here.
This commit is contained in:
Oleg Kalachev
2026-02-02 20:36:22 +03:00
parent 67430c7aac
commit 3e49d41986
3 changed files with 19 additions and 20 deletions
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6
flix/parameters.ino
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@@ -6,9 +6,9 @@
#include <Preferences.h> #include <Preferences.h>
#include "util.h" #include "util.h"
extern float channelZero[16]; extern int channelZero[16];
extern float channelMax[16]; extern int channelMax[16];
extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
extern int wifiMode, udpLocalPort, udpRemotePort; extern int wifiMode, udpLocalPort, udpRemotePort;
extern float rcLossTimeout, descendTime; extern float rcLossTimeout, descendTime;

31
flix/rc.ino
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@@ -9,15 +9,14 @@
SBUS rc(Serial2); SBUS rc(Serial2);
uint16_t channels[16]; // raw rc channels uint16_t channels[16]; // raw rc channels
float channelZero[16]; // calibration zero values int channelZero[16]; // calibration zero values
float channelMax[16]; // calibration max values int channelMax[16]; // calibration max values
float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1] float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
float controlMode = NAN; float controlMode = NAN;
float controlTime = NAN; // time of the last controls update float controlTime = NAN; // time of the last controls update
// Channels mapping (nan means not assigned): int rollChannel = -1, pitchChannel = -1, throttleChannel = -1, yawChannel = -1, modeChannel = -1; // channel mapping
float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;
void setupRC() { void setupRC() {
print("Setup RC\n"); print("Setup RC\n");
@@ -41,11 +40,11 @@ void normalizeRC() {
controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1); controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1);
} }
// Update control values // Update control values
controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : 0; controlRoll = rollChannel < 0 ? 0 : controls[rollChannel];
controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : 0; controlPitch = pitchChannel < 0 ? 0 : controls[pitchChannel];
controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : 0; controlYaw = yawChannel < 0 ? 0 : controls[yawChannel];
controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : 0; controlThrottle = throttleChannel < 0 ? 0 : controls[throttleChannel];
controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN; // mode switch should not have affect if not set controlMode = modeChannel < 0 ? NAN : controls[modeChannel]; // mode control is ineffective if not mapped
} }
void calibrateRC() { void calibrateRC() {
@@ -64,7 +63,7 @@ void calibrateRC() {
printRCCalibration(); printRCCalibration();
} }
void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const char *str) { void calibrateRCChannel(int *channel, uint16_t in[16], uint16_t out[16], const char *str) {
print("%s", str); print("%s", str);
pause(3); pause(3);
for (int i = 0; i < 30; i++) readRC(); // try update 30 times max for (int i = 0; i < 30; i++) readRC(); // try update 30 times max
@@ -85,15 +84,15 @@ void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const
channelZero[ch] = in[ch]; channelZero[ch] = in[ch];
channelMax[ch] = out[ch]; channelMax[ch] = out[ch];
} else { } else {
*channel = NAN; *channel = -1;
} }
} }
void printRCCalibration() { void printRCCalibration() {
print("Control Ch Zero Max\n"); print("Control Ch Zero Max\n");
print("Roll %-7g%-7g%-7g\n", rollChannel, rollChannel >= 0 ? channelZero[(int)rollChannel] : NAN, rollChannel >= 0 ? channelMax[(int)rollChannel] : NAN); print("Roll %-7d%-7d%-7d\n", rollChannel, rollChannel < 0 ? 0 : channelZero[rollChannel], rollChannel < 0 ? 0 : channelMax[rollChannel]);
print("Pitch %-7g%-7g%-7g\n", pitchChannel, pitchChannel >= 0 ? channelZero[(int)pitchChannel] : NAN, pitchChannel >= 0 ? channelMax[(int)pitchChannel] : NAN); print("Pitch %-7d%-7d%-7d\n", pitchChannel, pitchChannel < 0 ? 0 : channelZero[pitchChannel], pitchChannel < 0 ? 0 : channelMax[pitchChannel]);
print("Yaw %-7g%-7g%-7g\n", yawChannel, yawChannel >= 0 ? channelZero[(int)yawChannel] : NAN, yawChannel >= 0 ? channelMax[(int)yawChannel] : NAN); print("Yaw %-7d%-7d%-7d\n", yawChannel, yawChannel < 0 ? 0 : channelZero[yawChannel], yawChannel < 0 ? 0 : channelMax[yawChannel]);
print("Throttle %-7g%-7g%-7g\n", throttleChannel, throttleChannel >= 0 ? channelZero[(int)throttleChannel] : NAN, throttleChannel >= 0 ? channelMax[(int)throttleChannel] : NAN); print("Throttle %-7d%-7d%-7d\n", throttleChannel, throttleChannel < 0 ? 0 : channelZero[throttleChannel], throttleChannel < 0 ? 0 : channelMax[throttleChannel]);
print("Mode %-7g%-7g%-7g\n", modeChannel, modeChannel >= 0 ? channelZero[(int)modeChannel] : NAN, modeChannel >= 0 ? channelMax[(int)modeChannel] : NAN); print("Mode %-7d%-7d%-7d\n", modeChannel, modeChannel < 0 ? 0 : channelZero[modeChannel], modeChannel < 0 ? 0 : channelMax[modeChannel]);
} }

2
gazebo/flix.h
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@@ -43,7 +43,7 @@ void doCommand(String str, bool echo);
void handleInput(); void handleInput();
void normalizeRC(); void normalizeRC();
void calibrateRC(); void calibrateRC();
void calibrateRCChannel(float *channel, uint16_t zero[16], uint16_t max[16], const char *str); void calibrateRCChannel(int *channel, uint16_t zero[16], uint16_t max[16], const char *str);
void printRCCalibration(); void printRCCalibration();
void printLogHeader(); void printLogHeader();
void printLogData(); void printLogData();