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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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25
flix/parameters.ino
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@@ -5,8 +5,9 @@
#include <Preferences.h>
extern float channelNeutral[16];
extern float channelZero[16];
extern float channelMax[16];
extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
extern float mavlinkControlScale;
Preferences storage;
@@ -49,14 +50,14 @@ Parameter parameters[] = {
{"ACC_SCALE_Y", &accScale.y},
{"ACC_SCALE_Z", &accScale.z},
// rc
{"RC_NEUTRAL_0", &channelNeutral[0]},
{"RC_NEUTRAL_1", &channelNeutral[1]},
{"RC_NEUTRAL_2", &channelNeutral[2]},
{"RC_NEUTRAL_3", &channelNeutral[3]},
{"RC_NEUTRAL_4", &channelNeutral[4]},
{"RC_NEUTRAL_5", &channelNeutral[5]},
{"RC_NEUTRAL_6", &channelNeutral[6]},
{"RC_NEUTRAL_7", &channelNeutral[7]},
{"RC_ZERO_0", &channelZero[0]},
{"RC_ZERO_1", &channelZero[1]},
{"RC_ZERO_2", &channelZero[2]},
{"RC_ZERO_3", &channelZero[3]},
{"RC_ZERO_4", &channelZero[4]},
{"RC_ZERO_5", &channelZero[5]},
{"RC_ZERO_6", &channelZero[6]},
{"RC_ZERO_7", &channelZero[7]},
{"RC_MAX_0", &channelMax[0]},
{"RC_MAX_1", &channelMax[1]},
{"RC_MAX_2", &channelMax[2]},
@@ -65,6 +66,12 @@ Parameter parameters[] = {
{"RC_MAX_5", &channelMax[5]},
{"RC_MAX_6", &channelMax[6]},
{"RC_MAX_7", &channelMax[7]},
{"RC_ROLL", &rollChannel},
{"RC_PITCH", &pitchChannel},
{"RC_THROTTLE", &throttleChannel},
{"RC_YAW", &yawChannel},
{"RC_ARMED", &armedChannel},
{"RC_MODE", &modeChannel},
#if WIFI_ENABLED
// MAVLink
{"MAV_CTRL_SCALE", &mavlinkControlScale},