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Major rework of rc subsystem

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Implement channels mapping calibration.
Store mapping in parameters.
Get rid of `controls` array and store control inputs in `controlRoll`, `controlPitch`, ... variables.
Move `channels` variable to rc.ino, channels are not involved when controled using mavlink.
'Neutral' values are renamed to 'zero' - more precise naming.
`controlsTime` is renamed to `controlTime`.
Use unsigned values for channels.
Make channel values in simulation more alike to real world: unsigned values in range [1000, 2000].
Send RC_CHANNELS_RAW instead of RC_CHANNELS_SCALED via mavlink
Don't send channels data via mavlink if rc is not used
This commit is contained in:
Oleg Kalachev
2025-07-14 11:11:32 +03:00
parent 449dd44741
commit 52819e403b
12 changed files with 137 additions and 103 deletions
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docs/firmware.md
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@@ -14,7 +14,7 @@ The main loop is running at 1000 Hz. All the dataflow is happening through globa
* `acc` *(Vector)* — acceleration data from the accelerometer, *m/s<sup>2</sup>*.
* `rates` *(Vector)* — filtered angular rates, *rad/s*.
* `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
* `controls` *(float[])* — pilot's control inputs, range [-1, 1].
* `controlRoll`, `controlPitch`, ... *(float[])* — pilot's control inputs, range [-1, 1].
* `motors` *(float[])* — motor outputs, range [0, 1].
## Source files