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Make MAVLink control scale a parameter

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This commit is contained in:
Oleg Kalachev 2025-01-14 14:51:34 +03:00
parent 26bb4d2b3f
commit 7effd92043
2 changed files with 9 additions and 4 deletions
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8
flix/mavlink.ino
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@ -13,6 +13,8 @@
#define MAVLINK_CONTROL_SCALE 0.7f #define MAVLINK_CONTROL_SCALE 0.7f
#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
float mavlinkControlScale = 0.7;
extern double controlsTime; extern double controlsTime;
extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
@ -92,9 +94,9 @@ void handleMavlink(const void *_msg) {
mavlink_manual_control_t manualControl; mavlink_manual_control_t manualControl;
mavlink_msg_manual_control_decode(msg, &manualControl); mavlink_msg_manual_control_decode(msg, &manualControl);
controls[throttleChannel] = manualControl.z / 1000.0f; controls[throttleChannel] = manualControl.z / 1000.0f;
controls[pitchChannel] = manualControl.x / 1000.0f * MAVLINK_CONTROL_SCALE; controls[pitchChannel] = manualControl.x / 1000.0f * mavlinkControlScale;
controls[rollChannel] = manualControl.y / 1000.0f * MAVLINK_CONTROL_SCALE; controls[rollChannel] = manualControl.y / 1000.0f * mavlinkControlScale;
controls[yawChannel] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE; controls[yawChannel] = manualControl.r / 1000.0f * mavlinkControlScale;
controls[modeChannel] = 1; // STAB mode controls[modeChannel] = 1; // STAB mode
controls[armedChannel] = 1; // armed controls[armedChannel] = 1; // armed
controlsTime = t; controlsTime = t;

5
flix/parameters.ino
View File

@ -7,6 +7,7 @@
extern float channelNeutral[16]; extern float channelNeutral[16];
extern float channelMax[16]; extern float channelMax[16];
extern float mavlinkControlScale;
Preferences storage; Preferences storage;
@ -66,7 +67,9 @@ Parameter parameters[] = {
{"RC_MAX_4", &channelMax[4]}, {"RC_MAX_4", &channelMax[4]},
{"RC_MAX_5", &channelMax[5]}, {"RC_MAX_5", &channelMax[5]},
{"RC_MAX_6", &channelMax[6]}, {"RC_MAX_6", &channelMax[6]},
{"RC_MAX_7", &channelMax[7]} {"RC_MAX_7", &channelMax[7]},
// MAVLink
{"MAV_CTRL_SCALE", &mavlinkControlScale},
}; };
void setupParameters() { void setupParameters() {