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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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28
flix/mavlink.ino
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@@ -15,8 +15,8 @@
float mavlinkControlScale = 0.7;
String mavlinkPrintBuffer;
extern double controlsTime;
extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
extern double controlTime;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
void processMavlink() {
sendMavlink();
@@ -54,11 +54,9 @@ void sendMavlink() {
time, att.w, att.x, att.y, att.z, rates.x, rates.y, rates.z, zeroQuat);
sendMessage(&msg);
mavlink_msg_rc_channels_scaled_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlsTime * 1000, 0,
controls[0] * 10000, controls[1] * 10000, controls[2] * 10000,
controls[3] * 10000, controls[4] * 10000, controls[5] * 10000,
INT16_MAX, INT16_MAX, UINT8_MAX);
sendMessage(&msg);
mavlink_msg_rc_channels_raw_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
channels[0], channels[1], channels[2], channels[3], channels[4], channels[5], channels[6], channels[7], UINT8_MAX);
if (channels[0] != 0) sendMessage(&msg); // 0 means no RC input
float actuator[32];
memcpy(actuator, motors, sizeof(motors));
@@ -101,15 +99,15 @@ void handleMavlink(const void *_msg) {
mavlink_msg_manual_control_decode(&msg, &m);
if (m.target && m.target != SYSTEM_ID) return; // 0 is broadcast
controls[throttleChannel] = m.z / 1000.0f;
controls[pitchChannel] = m.x / 1000.0f * mavlinkControlScale;
controls[rollChannel] = m.y / 1000.0f * mavlinkControlScale;
controls[yawChannel] = m.r / 1000.0f * mavlinkControlScale;
controls[modeChannel] = 1; // STAB mode
controls[armedChannel] = 1; // armed
controlsTime = t;
controlThrottle = m.z / 1000.0f;
controlPitch = m.x / 1000.0f * mavlinkControlScale;
controlRoll = m.y / 1000.0f * mavlinkControlScale;
controlYaw = m.r / 1000.0f * mavlinkControlScale;
controlMode = 1; // STAB mode
controlArmed = 1; // armed
controlTime = t;
if (abs(controls[yawChannel]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[yawChannel] = 0;
if (abs(controlYaw) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controlYaw = 0;
}
if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {