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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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8
gazebo/flix.h
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@@ -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();