Major rework of rc subsystem

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

gazebo/SBUS.h

@@ -18,6 +18,9 @@ public:
 	SBUSData data() {
 		SBUSData data;
 		joystickGet(data.ch);
+		for (int i = 0; i < 16; i++) {
+			data.ch[i] = map(data.ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
+		}
 		return data;
 	};
 };

gazebo/flix.h

@@ -15,8 +15,7 @@
 double t = NAN;
 float dt;
 float motors[4];
-int16_t channels[16]; // raw rc channels
-float controls[16];
+float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode;
 Vector acc;
 Vector gyro;
 Vector rates;
@@ -41,9 +40,10 @@ void print(const char* format, ...);
 void pause(float duration);
 void doCommand(String str, bool echo);
 void handleInput();
-void calibrateRC();
 void normalizeRC();
-void printRCCal();
+void calibrateRC();
+void calibrateRCChannel(float *channel, uint16_t zero[16], uint16_t max[16], const char *str);
+void printRCCalibration();
 void dumpLog();
 void processMavlink();
 void sendMavlink();

gazebo/simulator.cpp

@@ -71,11 +71,7 @@ public:
 		gyro = Vector(imu->AngularVelocity().X(), imu->AngularVelocity().Y(), imu->AngularVelocity().Z());
 		acc = this->accFilter.update(Vector(imu->LinearAcceleration().X(), imu->LinearAcceleration().Y(), imu->LinearAcceleration().Z()));
 
-		// read rc
 		readRC();
-		controls[modeChannel] = 1; // 0 acro, 1 stab
-		controls[armedChannel] = 1; // armed
-
 		estimate();
 
 		// correct yaw to the actual yaw