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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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17
flix/cli.ino
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@@ -10,7 +10,8 @@
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern float loopRate, dt;
extern double t;
extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
extern uint16_t channels[16];
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
const char* motd =
"\nWelcome to\n"
@@ -109,13 +110,13 @@ void doCommand(String str, bool echo = false) {
print("rate: %.0f\n", loopRate);
print("landed: %d\n", landed);
} else if (command == "rc") {
print("Raw: throttle %d yaw %d pitch %d roll %d armed %d mode %d\n",
channels[throttleChannel], channels[yawChannel], channels[pitchChannel],
channels[rollChannel], channels[armedChannel], channels[modeChannel]);
print("Control: throttle %g yaw %g pitch %g roll %g armed %g mode %g\n",
controls[throttleChannel], controls[yawChannel], controls[pitchChannel],
controls[rollChannel], controls[armedChannel], controls[modeChannel]);
print("Mode: %s\n", getModeName());
print("channels: ");
for (int i = 0; i < 16; i++) {
print("%u ", channels[i]);
}
print("\nroll: %g pitch: %g yaw: %g throttle: %g armed: %g mode: %g\n",
controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode);
print("mode: %s\n", getModeName());
} else if (command == "mot") {
print("Motors: front-right %g front-left %g rear-right %g rear-left %g\n",
motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);