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Make channels definition to rc.ino

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It's also planned to parametrize them later
This commit is contained in:
Oleg Kalachev
2025-01-10 09:37:48 +03:00
parent 568f9dd5b1
commit 821e6b105e
10 changed files with 54 additions and 55 deletions
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25
flix/control.ino
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@@ -54,6 +54,7 @@ Vector torqueTarget;
float thrustTarget;
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
void control() {
interpretRC();
@@ -71,38 +72,38 @@ void control() {
}
void interpretRC() {
armed = controls[RC_CHANNEL_THROTTLE] >= 0.05 && controls[RC_CHANNEL_ARMED] >= 0.5;
armed = controls[throttleChannel] >= 0.05 && controls[armedChannel] >= 0.5;
// NOTE: put ACRO or MANUAL modes there if you want to use them
if (controls[RC_CHANNEL_MODE] < 0.25) {
if (controls[modeChannel] < 0.25) {
mode = STAB;
} else if (controls[RC_CHANNEL_MODE] < 0.75) {
} else if (controls[modeChannel] < 0.75) {
mode = STAB;
} else {
mode = STAB;
}
thrustTarget = controls[RC_CHANNEL_THROTTLE];
thrustTarget = controls[throttleChannel];
if (mode == ACRO) {
yawMode = YAW_RATE;
ratesTarget.x = controls[RC_CHANNEL_ROLL] * maxRate.x;
ratesTarget.y = controls[RC_CHANNEL_PITCH] * maxRate.y;
ratesTarget.z = -controls[RC_CHANNEL_YAW] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
ratesTarget.x = controls[rollChannel] * maxRate.x;
ratesTarget.y = controls[pitchChannel] * maxRate.y;
ratesTarget.z = -controls[yawChannel] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
} else if (mode == STAB) {
yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE;
yawMode = controls[yawChannel] == 0 ? YAW : YAW_RATE;
attitudeTarget = Quaternion::fromEulerZYX(Vector(
controls[RC_CHANNEL_ROLL] * tiltMax,
controls[RC_CHANNEL_PITCH] * tiltMax,
controls[rollChannel] * tiltMax,
controls[pitchChannel] * tiltMax,
attitudeTarget.getYaw()));
ratesTarget.z = -controls[RC_CHANNEL_YAW] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
ratesTarget.z = -controls[yawChannel] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
} else if (mode == MANUAL) {
// passthrough mode
yawMode = YAW_RATE;
torqueTarget = Vector(controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_PITCH], -controls[RC_CHANNEL_YAW]) * 0.01;
torqueTarget = Vector(controls[rollChannel], controls[pitchChannel], -controls[yawChannel]) * 0.01;
}
if (yawMode == YAW_RATE || !motorsActive()) {