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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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29
flix/control.ino
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@@ -21,7 +21,7 @@
#define YAWRATE_I 0.0
#define YAWRATE_D 0.0
#define YAWRATE_I_LIM 0.3
#define ROLL_P 4.5
#define ROLL_P 6
#define ROLL_I 0
#define ROLL_D 0
#define PITCH_P ROLL_P
@@ -54,7 +54,7 @@ Vector torqueTarget;
float thrustTarget;
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
void control() {
interpretRC();
@@ -72,39 +72,38 @@ void control() {
}
void interpretRC() {
armed = controls[throttleChannel] >= 0.05 &&
(controls[armedChannel] >= 0.5 || isnan(controls[armedChannel])); // assume armed if armed channel is not defined
armed = controlThrottle >= 0.05 && controlArmed >= 0.5;
// NOTE: put ACRO or MANUAL modes there if you want to use them
if (controls[modeChannel] < 0.25) {
if (controlMode < 0.25) {
mode = STAB;
} else if (controls[modeChannel] < 0.75) {
} else if (controlMode < 0.75) {
mode = STAB;
} else {
mode = STAB;
}
thrustTarget = controls[throttleChannel];
thrustTarget = controlThrottle;
if (mode == ACRO) {
yawMode = YAW_RATE;
ratesTarget.x = controls[rollChannel] * maxRate.x;
ratesTarget.y = controls[pitchChannel] * maxRate.y;
ratesTarget.z = -controls[yawChannel] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
ratesTarget.x = controlRoll * maxRate.x;
ratesTarget.y = controlPitch* maxRate.y;
ratesTarget.z = -controlYaw * maxRate.z; // positive yaw stick means clockwise rotation in FLU
} else if (mode == STAB) {
yawMode = controls[yawChannel] == 0 ? YAW : YAW_RATE;
yawMode = controlYaw == 0 ? YAW : YAW_RATE;
attitudeTarget = Quaternion::fromEuler(Vector(
controls[rollChannel] * tiltMax,
controls[pitchChannel] * tiltMax,
controlRoll * tiltMax,
controlPitch * tiltMax,
attitudeTarget.getYaw()));
ratesTarget.z = -controls[yawChannel] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
ratesTarget.z = -controlYaw * maxRate.z; // positive yaw stick means clockwise rotation in FLU
} else if (mode == MANUAL) {
// passthrough mode
yawMode = YAW_RATE;
torqueTarget = Vector(controls[rollChannel], controls[pitchChannel], -controls[yawChannel]) * 0.01;
torqueTarget = Vector(controlRoll, controlPitch, -controlYaw) * 0.01;
}
if (yawMode == YAW_RATE || !motorsActive()) {