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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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3
flix/flix.ino
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@@ -12,8 +12,7 @@
double t = NAN; // current step time, s
float dt; // time delta from previous step, s
int16_t channels[16]; // raw rc channels
float controls[16]; // normalized controls in range [-1..1] ([0..1] for throttle)
float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode; // pilot's inputs, range [-1, 1]
Vector gyro; // gyroscope data
Vector acc; // accelerometer data, m/s/s
Vector rates; // filtered angular rates, rad/s